Automatic traveling method, automatic traveling program, and automatic traveling system

Abstract

To provide an automatic traveling method, an automatic traveling program, and an automatic traveling system capable of performing automatic traveling without lowering work efficiency while securing safety in a work vehicle having an obstacle detection function.SOLUTION: The automatic traveling system 1 includes the setting processing unit 512 that sets the function of the obstacle sensor 54 that detects a detection target around the work vehicle 10 to be valid or invalid, and the traveling processing unit 111 that, when the function of the obstacle sensor 54 is set to be invalid, enables automatic traveling when a predetermined condition related to the operator is satisfied, and prohibits automatic traveling when the predetermined condition related to the operator is not satisfied.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technology for automatically driving a work vehicle equipped with a function for detecting obstacles. [Background technology]

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

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

[0004] A detection unit such as an obstacle sensor may detect an object, such as dust, that does not affect the operation of a work vehicle as an obstacle. If such an object is detected as an obstacle, the work vehicle may stop its autonomous driving, slow down, or take evasive action, reducing work efficiency. Disabling the function of the detection unit (obstacle detection function) is an option, but disabling the obstacle detection function poses a risk of reducing safety.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system that enable a work vehicle equipped with an obstacle detection function to travel automatically without reducing work efficiency while ensuring safety. [Means for solving the problem]

[0006] An automated driving method according to the present invention is a method for automatically driving a work vehicle along a target route in a work area. The automated driving method includes enabling or disabling a function of a detection unit that detects targets around the work vehicle, and, when the detection unit function is disabled, enabling automated driving when a predetermined condition related to an operator is satisfied, and prohibiting automated driving when the predetermined condition related to the operator is not satisfied.

[0007] An automated driving program according to the present invention is a program for automatically driving a work vehicle along a target route in a work area. The automated driving program causes one or more processors to enable or disable a function of a detection unit that detects targets around the work vehicle, and, if the detection unit function is disabled, enables automated driving when a predetermined condition related to the operator is met, and prohibits automated driving when the predetermined condition related to the operator is not met.

[0008] An automated driving system according to the present invention is a system for automatically driving a work vehicle along a target route in a work area. The automated driving system includes a setting processing unit that enables or disables a function of a detection unit that detects targets around the work vehicle, and a driving processing unit that, when the detection unit's function is disabled, enables automated driving when a predetermined condition related to an operator is satisfied and prohibits automated driving when the predetermined condition related to the operator is not satisfied. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system that enable a work vehicle equipped with an obstacle detection function to automatically drive without reducing work efficiency while ensuring safety. [Brief explanation of the drawings]

[0010] [Figure 1]FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing a specific example of a vehicle control range of an obstacle sensor according to an embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing an example of a mode selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a sensor selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a warning screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a sensor selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a sensor selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a start condition screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a start condition screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 14] FIG. 14 is a flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing an example of a sensor selection screen displayed on an operation terminal according to another embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of a sensor selection screen displayed on an operation terminal according to another embodiment of the present invention. [Figure 17] FIG. 17 is a diagram showing an example of a sensor selection screen displayed on an operation terminal according to another embodiment of the present invention. [Figure 18] FIG. 18 is a diagram showing an example of a warning screen displayed on an operation terminal according to another embodiment of the present invention. [Figure 19] FIG. 19 is a diagram showing an example of a start terminal selection screen displayed on an operation terminal according to another embodiment of the present invention. [Figure 20] FIG. 20 is a diagram showing an example of a warning screen displayed on an operation terminal according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0012] 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] In this embodiment, the work vehicle 10 will be described as 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 is configured to be able to travel automatically (autonomously) within a pre-registered field. For example, an operator registers the field to be worked on and sets a travel route (target route) for the work vehicle 10 to travel automatically through the field. The work vehicle 10 travels automatically along a target route set in advance for the field based on position information of the current position of the work vehicle 10 calculated by the positioning unit 17. The work vehicle 10 is also capable of performing predetermined work while traveling automatically within the field.

[0014] For example, the work vehicle 10 automatically travels along a target route R in a field F shown in Fig. 3. Specifically, the work vehicle 10 performs work while automatically traveling along a work route and a movement route (turning route) connecting the work routes from a work start position S to a work end position G. The target route R is not limited to the route shown in Fig. 3, but is set appropriately depending on the work content.

[0015] Here, while the work vehicle 10 is traveling automatically along the target route R, the work vehicle 10 is capable of detecting objects around the work vehicle 10 using an obstacle sensor. If the work vehicle 10 determines that a detected object is an obstacle, it will stop (temporarily stop) its automatic traveling, slow down, or travel to avoid the obstacle. By providing the obstacle detection function as described above, the work vehicle 10 can ensure safety during automatic traveling. However, the obstacle sensor may detect an object that does not affect the traveling of the work vehicle 10, such as dust, as an obstacle. Detecting such an object as an obstacle reduces the work efficiency of the work vehicle 10. Furthermore, disabling the obstacle detection function poses a problem of reduced safety. In response to this, the automatic traveling system 1 according to this embodiment is configured to enable automatic traveling of a work vehicle 10 equipped with an obstacle detection function without reducing work efficiency while ensuring safety, as described below.

[0016] [Work vehicle 10] 1 and 2, the work vehicle 10 is equipped with a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, an obstacle detection device 15, a communication unit 16, a positioning unit 17, a seat detection unit 18, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the obstacle detection device 15, the positioning unit 17, the seat detection unit 18, etc. Note that the vehicle control device 11 and the obstacle detection device 15 may be capable of wireless communication, and the vehicle control device 11 and the positioning unit 17 may be capable of wireless communication.

[0017] The communication unit 16 is a communication interface that connects the work vehicle 10 to the communication network N1 via a wired or wireless connection and performs data communication with external devices (such as the operation terminal 20 or a remote control) via the communication network N1 in accordance with a predetermined communication protocol.

[0018] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 14) described below. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 also stores data such as a target route.

[0019] 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.

[0020] The engine 131 is a drive source such as a diesel engine or a gasoline engine that runs on fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source in addition to or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to the vehicle control device 11, obstacle detection device 15, positioning unit 17, and other electrical components provided on the work vehicle 10, as well as to the battery. The battery is charged with power supplied from the generator. The vehicle control device 11, obstacle detection device 15, positioning unit 17, and other electrical components provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0021] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11. The traveling device 13 also decelerates or stops the work vehicle 10 in accordance with commands from the vehicle control device 11.

[0022] The work implement 14 is, for example, a cultivator, a brush cutter, a plow, a fertilizer applicator, a sprayer (chemical applicator), a tiller, or a seed sower, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various types of work using each of the work implements 14. Figure 2 shows a case where the work implement 14 is a cultivator.

[0023] The handle 137 is an operating unit that is operated by the worker or the vehicle control device 11. For example, in the traveling device 13, in response to operation of the handle 137 by the vehicle control device 11, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like, and the traveling direction of the work vehicle 10 is changed.

[0024] In addition to the handlebars 137, the traveling device 13 is also equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and rear wheels 133 using an electromagnetic brake.

[0025] The positioning unit 17 is a communication device including a positioning control unit 171, a memory unit 172, a communication unit 173, a positioning antenna 174, and the like. For example, as shown in FIG. 2 , the positioning unit 17 is provided above the driver's seat 138 (cabin) in which the worker sits. The driver's seat 138 or the cabin is an example of a control location in the present invention. The installation location of the positioning unit 17 is not limited to above the driver's seat 138. Furthermore, the positioning control unit 171, the memory unit 172, the communication unit 173, and the positioning antenna 174 of the positioning unit 17 may be disposed in different locations in the work vehicle 10. As described above, the battery is connected to the positioning unit 17, and the positioning unit 17 can operate even when the engine 131 is stopped. Furthermore, the positioning unit 17 may be substituted with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0026] The positioning control unit 171 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 172 is a nonvolatile memory or the like that stores data such as a program for causing the positioning control unit 171 to execute positioning processing, positioning information, and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 172. Note that the program may be downloaded to the positioning unit 17 from a server (not shown) via the communication network N1 and stored in the storage unit 172.

[0027] The communication unit 173 is a communication interface that connects the positioning unit 17 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as a base station server via the communication network N1.

[0028] The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0029] The positioning control unit 171 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 174. For example, when the work vehicle 10 is autonomously traveling within a field, the positioning antenna 174 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, and the positioning control unit 171 calculates the distance between the positioning antenna 174 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 171 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the determined position (for example, the position of the positioning antenna 174), or may be displaced from the determined position. The positioning control unit 171 may calculate (measure) the current position of the work vehicle 10 using a quantum compass.

[0030] When the obstacle detection device 15 detects a detection target such as a person or an object while the work vehicle 10 is autonomously traveling, it outputs measurement information to the vehicle control device 11. Specifically, the obstacle detection device 15 includes a detection control unit 51, a memory unit 52, a camera 53, an obstacle sensor 54, and a communication unit 55. The obstacle detection device 15 may be configured as a single unit and mounted on the work vehicle 10, or multiple components may be distributed throughout the work vehicle 10.

[0031] The communication unit 55 is a communication interface that connects the obstacle detection device 15 to the communication network N1 via a wired or wireless connection and performs data communication with an external device (such as the operation terminal 20) via the communication network N1 in accordance with a predetermined communication protocol.

[0032] The storage unit 52 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. A control program for causing the obstacle detection device 15 to execute predetermined processes is stored in the storage unit 52. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 52. The control program may be downloaded to the obstacle detection device 15 from a server (not shown) via the communication network N1 and stored in the storage unit 52.

[0033] The camera 53 is a digital camera that captures an image of a subject included in a predetermined imaging range and outputs the image as digital image data. The camera 53 continuously captures images of the subject at a predetermined frame rate, generates frame images (captured images) of a predetermined resolution, and transmits them sequentially to the detection control unit 51. The camera 53 also transmits image data of the captured images to the operation terminal 20 via the communication unit 55. The operation terminal 20 can display the captured images on the operation screen of the operation display unit 23 (see FIG. 6, etc.).

[0034] Camera 53 includes a front camera 53a capable of capturing an image in a range forward as seen from work vehicle 10, and a rear camera 53b capable of capturing an image in a range rearward as seen from work vehicle 10. As shown in FIG. 2, front camera 53a is arranged above and forward of driver's seat 138, and rear camera 53b is arranged above and rearward of driver's seat 138. Camera 53 may include a left camera capable of capturing an image in a range on the left side as seen from work vehicle 10, and a right camera capable of capturing an image in a range on the right side as seen from work vehicle 10. Camera 53 may also be a single omnidirectional camera capable of capturing images in all directions around work vehicle 10.

[0035] The obstacle sensor 54 is a sensor that detects a target within a predetermined detection range using infrared rays, ultrasonic waves, or the like. For example, the obstacle sensor 54 may be a lidar sensor (distance sensor) that can measure the distance to the target in three dimensions using lasers, or a sonar sensor with multiple sonars that can measure the distance to the target using ultrasonic waves. The obstacle sensors 54 are installed at the center front, center rear, center left, or center left and right of the body of the work vehicle 10, etc., and monitor the periphery of the work vehicle 10 to detect obstacles. In this embodiment, the obstacle sensor 54 is configured to include a front obstacle sensor 54a that can detect targets within a detection range in front of the work vehicle 10, a rear obstacle sensor 54b that can detect targets within a detection range behind the work vehicle 10, a left obstacle sensor 54c that can detect targets within a detection range to the left of the work vehicle 10, and a right obstacle sensor (not shown) that can detect targets within a detection range to the right of the work vehicle 10. As shown in FIG. 2, the front obstacle sensor 54a is disposed above and forward of the driver's seat 138, the rear obstacle sensor 54b is disposed above and rear of the driver's seat 138, the left obstacle sensor 54c is disposed below and center left of the driver's seat 138, and the right obstacle sensor is disposed below and center right of the driver's seat 138. The front obstacle sensor 54a, the rear obstacle sensor 54b, the left obstacle sensor 54c, and the right obstacle sensor are capable of detecting objects within a predetermined detection range around the work vehicle 10. The front camera 53a and the front obstacle sensor 54a may be configured as a single unit, and the rear camera 53b and the rear obstacle sensor 54b may be configured as a single unit. The obstacle sensor 54 may be configured from the front obstacle sensor 54a and the rear obstacle sensor 54b. The obstacle sensor 54 is an example of a detection unit of the present invention.

[0036] 4 shows an example of the measurement range (detection range) of each of the front obstacle sensor 54a and the rear obstacle sensor 54b. Note that, hereinafter, the front obstacle sensors will be referred to as "obstacle sensor 54" when describing something common to both sensors.

[0037] The obstacle sensor 54 measures the distance to each ranging point (measurement target) present within the measurement range using, for example, a laser (near-infrared laser light, etc.), and generates a distance image based on the measurement information. The obstacle sensor 54 includes an electronic control unit integrating a microcontroller and a processing unit constructed by various control programs, etc., and is connected to the detection control unit 51, the vehicle control device 11, etc. via a CAN so that they can communicate with each other.

[0038] As shown in FIG. 4, the measurement range (detection range) of the front obstacle sensor 54a is set to a first measurement range Rm1 in front of the driver's seat 138, and the measurement range (detection range) of the rear obstacle sensor 54b is set to a second measurement range Rm2 in rear of the driver's seat 138.

[0039] The front obstacle sensor 54a and the rear obstacle sensor 54b are arranged on the lateral center line of the work vehicle 10, like the front camera 53a and the rear camera 53b. The front obstacle sensor 54a is arranged in a lateral center location at the upper part of the front end of the driver's seat 138, in a front-down position looking down diagonally from above at the front side of the work vehicle 10. As a result, for the front obstacle sensor 54a, a predetermined range on the front side of the vehicle body about the lateral center line of the work vehicle 10 as an axis of symmetry is set as a first measurement range Rm1. The rear obstacle sensor 54b is arranged in a lateral center location at the upper part of the rear end of the driver's seat 138, in a rear-down position looking down diagonally from above at the rear side of the work vehicle 10. As a result, for the rear obstacle sensor 54b, a predetermined range on the rear side of the vehicle body about the lateral center line of the work vehicle 10 as an axis of symmetry is set as a second measurement range Rm2.

[0040] The forward obstacle sensor 54a and the rearward obstacle sensor 54b measure the distance from each obstacle sensor 54a, 54b to each ranging point in the first measurement range Rm1 or the second measurement range Rm2 using a time-of-flight (TOF) method, which measures the distance to a ranging point based on the round-trip time it takes for an emitted laser to reach the ranging point and return. The forward obstacle sensor 54a performs three-dimensional measurements in the first measurement range Rm1 by scanning the laser vertically and horizontally at high speed over the entire first measurement range Rm1 and sequentially measuring the distance to the ranging point for each scanning angle (coordinate). The forward obstacle sensor 54a sequentially measures the intensity of reflected light (reflection intensity) from each acquired ranging point. The forward obstacle sensor 54a repeatedly measures the distance to each ranging point in the first measurement range Rm1 and each reflection intensity in real time.

[0041] The rear obstacle sensor 54b performs three-dimensional measurements in the second measurement range Rm2 by scanning the laser vertically and horizontally at high speed over the entire second measurement range Rm2 and sequentially measuring the distance to the ranging point for each scanning angle (coordinate). The rear obstacle sensor 54b sequentially measures the intensity of reflected light (reflection intensity) from each acquired ranging point. The rear obstacle sensor 54b repeatedly measures the distance to each ranging point in the second measurement range Rm2 and each reflection intensity in real time.

[0042] The front obstacle sensor 54a and the rear obstacle sensor 54b generate a distance image from measurement information such as the distance to each measured ranging point and the scanning angle (coordinates) for each ranging point, and extract a group of ranging points that are estimated to be obstacles, and transmit the measurement information regarding the extracted group of ranging points to the detection control unit 51 as measurement information regarding the obstacles.

[0043] In addition, the front obstacle sensor 54a and the rear obstacle sensor 54b perform cutting and masking processes based on vehicle body information, etc. on the first measurement range Rm1 or the second measurement range Rm2, thereby setting a first vehicle control range Rd1 on the forward side of the work vehicle 10 and a second vehicle control range Rd2 on the reverse side of the work vehicle 10 within the obstacle detection ranges of the front obstacle sensor 54a and the rear obstacle sensor 54b (see Figure 4).

[0044] In the cutting process, the front obstacle sensor 54a and the rear obstacle sensor 54b acquire the maximum left-right width of the vehicle body including the work implement 14 (the left-right width of the tiller in this embodiment) through communication with the vehicle control device 11, and set a vehicle control width W1 of the obstacle by adding a predetermined safety margin to the maximum left-right width of the vehicle body. Then, in the first measurement range Rm1 and the second measurement range Rm2, left-right ranges that fall outside the vehicle control width W1 are set as non-vehicle control ranges Rn through the cutting process and excluded from each vehicle control range Rd1, Rd2.

[0045] In addition, in the masking process, the front obstacle sensor 54a and the rear obstacle sensor 54b set the range in which the front end of the work vehicle 10 enters the first measurement range Rm1 and the range in which the rear end of the work implement 14 enters the second measurement range Rm2 plus a predetermined safety margin as a non-detection range Rs by the masking process, and exclude these from each measurement range Rm1, Rm2 (detection range).

[0046] In this way, by setting the detection range of the detection object to a first measurement range Rm1 and a second measurement range Rm2, and setting a vehicle control range for each measurement range Rm1, Rm2, it is possible to execute processing (countermeasure processing described below) according to the position of the detection object within each measurement range Rm1, Rm2 when the detection object is detected.

[0047] Information regarding the first vehicle control range Rd1, the second vehicle control range Rd2, the non-vehicle control range Rn, and the non-detection range Rs is included in the distance image described above, and is transmitted to the detection control unit 51 together with the distance image.

[0048] As shown in Fig. 4, the vehicle control ranges Rd1, Rd2 of the front obstacle sensor 54a and the rear obstacle sensor 54b are divided into a stop control range Ra, a deceleration control range Rb, and a notification control range Rc based on a collision determination process in which the collision prediction time is a set time (e.g., 3 seconds). Specifically, the stop control range Ra is set to a range from the front obstacle sensor 54a or the rear obstacle sensor 54b to a determination reference position of the collision determination process. The deceleration control range Rb is set to a range from the determination reference position to a deceleration start position. The notification control range Rc is set to a range from the deceleration start position to a measurement limit position of the front obstacle sensor 54a or the rear obstacle sensor 54b. The determination reference position is set to a position a certain distance L1 (e.g., 3 m) in the fore-and-aft direction of the vehicle body from the front end or rear end of the vehicle body including the work implement 14. In this embodiment, the range of distance L1 from the work vehicle 10 is set as the stop control range Ra, the range from distance L1 to distance L2 (e.g., 6 m or less) is set as the deceleration control range Rb, and the range from distance L2 to distance L3 (e.g., 9 m or less) is set as the notification control range Rc.

[0049] Furthermore, the non-vehicle control range Rn of the front obstacle sensor 54a and the rear obstacle sensor 54b, i.e., the first measurement range Rm1 and the second measurement range Rm2 excluding the stop control range Ra, the deceleration control range Rb, and the notification control range Rc, is set as a range in which driving control processes for stopping and deceleration and notification processes for issuing a warning sound are not executed. Furthermore, the first measurement range Rm1 and the second measurement range Rm2 are set as ranges in which notification processes are executed to notify an operator (remote monitor) that a detection target has been detected. In another embodiment, the notification control range Rc and the non-vehicle control range Rn may be set as a single range in which the same processes (notification processes and notification processes) are executed.

[0050] The control ranges Ra, Rb, Rc in the first vehicle control range Rd1 of the front obstacle sensor 54a and the second vehicle control range Rd2 of the rear obstacle sensor 54b can be set according to the type, model, work content, vehicle speed, etc. of the work vehicle 10. Furthermore, the first measurement range Rm1 of the front obstacle sensor 54a and the second measurement range Rm2 of the rear obstacle sensor 54b may not be subjected to cutting processing.

[0051] In another embodiment, in the process of cutting the first measurement range Rm1 and the second measurement range Rm2, the non-vehicle control range Rn may be set as a non-detection range in which a detection target is not detected. In this case, if a detection target is detected in the non-vehicle control range Rn, a notification process is not executed to notify the operator that the detection target has been detected. In another embodiment, the operator may be able to select whether or not to set the non-vehicle control range Rn as a non-detection range. When the non-vehicle control range Rn is set as a non-detection range, the control ranges Ra, Rb, and Rc may be set as ranges in which the notification process is executed in addition to the vehicle control process.

[0052] The detection control unit 51 outputs the measurement information acquired from the obstacle sensor 54 to the vehicle control device 11. While the work vehicle 10 is traveling automatically, the detection control unit 51 sequentially outputs the measurement information to the vehicle control device 11 each time it acquires the measurement information from the obstacle sensor 54. In another embodiment, the detection control unit 51 may determine the type (person, vehicle, structure, material, etc.) of the detection target (measurement target) based on the captured image acquired from the camera 53 and the measurement information acquired from the obstacle sensor 54, and output the determination result to the vehicle control device 11.

[0053] The detection control unit 51 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The detection control unit 51 controls the obstacle detection device 15 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 52.

[0054] Specifically, as shown in Fig. 1, the detection control unit 51 includes various processing units such as a detection processing unit 511 and a setting processing unit 512. The obstacle detection device 15 functions as the various processing units by executing various processes in accordance with an obstacle detection program using the CPU. Some or all of the processing units may be configured with electronic circuits. The obstacle detection program may be a program that causes multiple processors to function as the processing units.

[0055] The detection processing unit 511 acquires captured images from the camera 53 and acquires measurement information from the obstacle sensor 54. Specifically, when the work vehicle 10 starts autonomous traveling, the detection processing unit 511 sequentially acquires captured images of the imaging range ahead in the traveling direction from the front camera 53a during the autonomous traveling. The detection processing unit 511 stores the acquired captured images in the memory unit 52. Furthermore, when the work vehicle 10 starts autonomous traveling, the detection processing unit 511 sequentially acquires measurement information (ranging point cloud, distance image, etc.) of a first measurement range Rm1 (see FIG. 4 ) ahead in the traveling direction from the front obstacle sensor 54a during the autonomous traveling. The detection processing unit 511 stores the acquired measurement information in the memory unit 52.

[0056] Furthermore, the detection processing unit 511 determines whether the detection target is located within or outside a vehicle control range that is set based on the work vehicle 10. The vehicle control range refers to a range in which, when the detection target is included in the vehicle control range, predetermined vehicle control processing (driving control processing such as stopping processing and deceleration processing, notification processing such as emitting a warning sound to the outside, etc.) is performed on the work vehicle 10.

[0057] Specifically, the detection processing unit 511 determines whether the detection target is located within or outside the first vehicle control range Rd1, based on the current position of the work vehicle 10 in the field F and the measurement information. Also, for example, the detection processing unit 511 determines whether the detection target is located within the stop control range Ra, the deceleration control range Rb, or the notification control range Rc, or whether the detection target is located within none of the stop control range Ra, the deceleration control range Rb, or the notification control range Rc, based on the current position of the work vehicle 10 and the measurement information. The detection processing unit 511 also determines whether the detection target is located within the stop control range Ra, the deceleration control range Rb, the notification control range Rc, or the non-vehicle control range Rn.

[0058] In another embodiment, the detection processing unit 511 may determine whether the detection target is located within or outside the first vehicle control range Rd1, on the condition that the detection target is determined to be located within the field F. Therefore, when the detection processing unit 511 detects the detection target X1 outside the field F, it is not necessary to determine whether the detection target X1 is located within the first vehicle control range Rd1.

[0059] In another embodiment, the detection processing unit 511 may determine the position of the detection target based on the image captured by the camera 53. Furthermore, the detection processing unit 511 may determine the position of the detection target based on the image captured by the camera 53 and measurement information from the obstacle sensor 54.

[0060] The detection processing unit 511 outputs response information according to the determination result to the vehicle control device 11 and the operation terminal 20. Specifically, when a detection target is detected, the detection processing unit 511 outputs (notifies) the operation terminal 20 of detection information indicating that the detection target has been detected, and causes the operation terminal 20 to display the detection information (see FIGS. 7 and 8). The detection processing unit 511 may also send the detection information to the operation terminal 20 by email. Furthermore, when a detection target is detected, the detection processing unit 511 outputs vehicle control information (such as a stop instruction, a deceleration instruction, or a notification instruction) for controlling the work vehicle 10 to the vehicle control device 11, and causes the vehicle control device 11 to execute vehicle control processing (such as a stop processing, a deceleration processing, or a notification processing). Specific examples of the detection information display processing and the vehicle control processing will be described later.

[0061] In addition, the detection processing unit 511 may be configured to determine whether the detection target is an obstacle based on the image captured by the camera 53, and if it determines that the detection target is an obstacle, output the response information to the vehicle control device 11 and the operation terminal 20, and if it determines that the detection target is not an obstacle, not output the response information to the vehicle control device 11 and the operation terminal 20.

[0062] The setting processing unit 512 sets the function (obstacle detection function) of the obstacle sensor 54 to be enabled or disabled. Here, "enabled" of the obstacle sensor 54 means that the obstacle sensor 54 emits a laser into a predetermined detection range and outputs measurement information measuring the distance to each ranging point (measurement target) present within the measurement range, or that the detection processing unit 511 detects the detection target based on the measurement information. Furthermore, "disabled" of the obstacle sensor 54 means that the obstacle sensor 54 does not emit a laser, that the obstacle sensor 54 emits a laser but does not output measurement information measuring the distance to each ranging point present within the measurement range, or that the detection processing unit 511 acquires measurement information from the obstacle sensor 54 but does not determine the position of the detection target.

[0063] The setting processing unit 512 sets the function of the obstacle sensor 54 to be enabled or disabled in accordance with an operation selected by the operator on the operation terminal 20 (see FIG. 8, etc.). A method for setting the function of the obstacle sensor 54 will be described later. The setting processing unit 512 outputs setting information indicating the setting state ("enabled" or "disabled") of the function of the obstacle sensor 54 to the vehicle control device 11. The setting processing unit 512 is an example of a setting processing unit of the present invention.

[0064] The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as temporary storage memory for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 12.

[0065] Specifically, as shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program that causes multiple processors to function as the processing units.

[0066] The driving processing unit 111 controls the driving of the work vehicle 10. For example, when the driving mode of the work vehicle 10 is the automatic driving mode, the driving processing unit 111 causes the work vehicle 10 to drive automatically based on position information (positioning information) indicating the current position of the work vehicle 10 measured by the positioning unit 17. For example, when the work vehicle 10 satisfies the 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. For example, the driving processing unit 111 causes the work vehicle 10 to drive automatically from a work start position S to a work end position G according to a target route R that has been generated and set in advance in the operation terminal 20.

[0067] When the driving mode of the work vehicle 10 is the manual driving mode, the work vehicle 10 can be manually driven based on the operation (manual steering) of the worker. For example, the driving processing unit 111 acquires operation information corresponding to driving operations such as steering, gear shifting, driving direction switching, and braking by the worker, and causes the driving device 13 to perform driving operations based on the operation information.

[0068] Furthermore, the driving processing unit 111 executes a predetermined response process when the work vehicle 10 detects a detection target (obstacle) during autonomous driving. Specifically, the driving processing unit 111 executes response processes such as a driving control process for controlling the driving of the work vehicle 10 and a notification process for issuing a warning sound, based on the response information (stop instruction, deceleration instruction, notification instruction, etc.) output from the detection control unit 51. For example, the driving processing unit 111 executes a notification process when the obstacle sensor 54 detects an obstacle within a range of 6 m to 9 m ahead of the work vehicle 10, executes a deceleration process when the obstacle sensor 54 detects an obstacle within a range of 3 m to 6 m ahead of the work vehicle 10, and executes a stop process when the obstacle sensor 54 detects an obstacle within a range of 3 m ahead of the work vehicle 10.

[0069] Furthermore, the driving processing unit 111 controls driving in accordance with instructions acquired from the operation terminal 20. For example, when the driving processing unit 111 acquires a driving start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10, and when it acquires a driving stop instruction from the operation terminal 20, it stops the automatic driving of the work vehicle 10.

[0070] Furthermore, the driving processing unit 111 permits or prohibits automatic driving depending on the setting state ("enabled" or "disabled") of the function of the obstacle sensor 54. Specifically, when the driving mode is set to an automatic driving mode (an unmanned automatic driving mode such as "robot mode"), the driving processing unit 111 enables automatic driving on the condition that the function of the obstacle sensor 54 is set to "enabled." In other words, when the driving mode is the unmanned automatic driving mode, if the function of the obstacle sensor 54 is "enabled," the driving processing unit 111 receives a driving start instruction from the operator via the operation terminal 20 and causes the work vehicle 10 to start automatic driving.

[0071] In contrast, when the driving mode is set to the unmanned automatic driving mode and the function of the obstacle sensor 54 is set to "disabled," the driving processing unit 111 enables automatic driving when a predetermined condition related to the operator is met, and prohibits automatic driving when the predetermined condition related to the operator is not met. Specifically, when the driving mode is set to the unmanned automatic driving mode and the function of the obstacle sensor 54 is "disabled," the driving processing unit 111 enables automatic driving when a state in which the safety of automatic driving can be ensured by the operator, and prohibits automatic driving when a state in which the safety of automatic driving cannot be ensured by the operator. In this way, the automatic driving system 1 according to this embodiment is configured to enable automatic driving of the work vehicle 10 as long as the safety of automatic driving can be ensured, even when the function of the obstacle sensor 54 is disabled.

[0072] An example of the predetermined condition is that "the operator is in the driver's seat 138 (cabin) in the work vehicle 10." Specifically, when the function of the obstacle sensor 54 is disabled, the driving processing unit 111 determines whether the operator is in the driver's seat 138, and when the operator is in the driver's seat 138 and other automatic driving start conditions are met, the driving processing unit 111 permits the operator to issue an instruction to start automatic driving, and when the operator is not in the driver's seat 138, the driving processing unit 111 prohibits the operator from issuing an instruction to start automatic driving. For example, the driving processing unit 111 determines whether the operator is in the driver's seat 138 based on the detection result of the seat detection unit 18. The seat detection unit 18 is composed of, for example, a switch, a sensor, etc., and detects when the operator sits in or leaves the driver's seat (chair). The seat detection unit 18 outputs an ON signal to the vehicle control device 11 when the operator is seated, and outputs an OFF signal to the vehicle control device 11 when the operator leaves the seat. When the driving processing unit 111 receives an ON signal from the seat detection unit 18, it determines that the operator is seated in the driver's seat, i.e., that the operator is in the driver's seat 138. Furthermore, while the driving processing unit 111 receives an OFF signal from the seat detection unit 18, it determines that the operator is not in the driver's seat 138.

[0073] Here, when the operator is in the driver's seat 138 inside the work vehicle 10, he or she can visually grasp the situation around the work vehicle 10. For example, the operator can visually determine whether or not there is an obstacle. In this way, when the operator is in the driver's seat 138, safety around the work vehicle 10 can be ensured, so the driving processing unit 111 permits automatic driving if other automatic driving start conditions are met even if the function of the obstacle sensor 54 is "disabled." On the other hand, when the operator is not in the driver's seat 138, safety around the work vehicle 10 cannot be ensured, so the driving processing unit 111 prohibits automatic driving if the function of the obstacle sensor 54 is "disabled."

[0074] According to the above configuration, even if the work vehicle 10 detects a detection target such as dust that does not affect driving as an obstacle and stops automatic driving, the operator can confirm the safety of the surroundings from the driver's seat 138 of the work vehicle 10, then disable the obstacle sensor 54 and resume automatic driving. Note that when the function of the obstacle sensor 54 is set to enabled, the driving processing unit 111 enables automatic driving regardless of the predetermined conditions. The driving processing unit 111 is an example of a driving processing unit of the present invention.

[0075] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0076] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0077] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various types of information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various types of information (such as work vehicle information, field information, and work information, which will be described later). For example, the operator operates the operation unit to register the field F to be worked on.

[0078] The operator can also operate the operation unit to give instructions to start and stop traveling to the work vehicle 10. Furthermore, the operator can grasp the traveling status of the work vehicle 10, which is automatically traveling through the field F according to the target route R, from the traveling trajectory displayed on the operation terminal 20, while in a location away from the work vehicle 10.

[0079] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores a control program for causing the operation control unit 21 to execute the automatic driving process (see FIG. 14 ), which will be described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The automatic driving program may be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the storage unit 22.

[0080] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route R for the work vehicle 10, and issuing instructions for automatic driving to the work vehicle 10.

[0081] The storage unit 22 also stores data such as work vehicle information, which is information relating to the work vehicle 10, and target route information, which is information relating to the target route R. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10.

[0082] Furthermore, the storage unit 22 may store the work vehicle information for one work vehicle 10, or may store the work vehicle information for multiple work vehicles 10. For example, if a specific operator owns multiple work vehicles 10, the work vehicle information for each work vehicle 10 is stored in the storage unit 22.

[0083] The target route information includes information such as the route name, field name, address, field area, and work time for each target route R. The route name is the route name of the target route R generated in the operation terminal 20. The field name is the name of the field F that is the work target for which the target route R is set. The address is the address of the field F, and the field area is the area of ​​the field F. The work time is the time required for the work vehicle 10 to work in the field F.

[0084] Furthermore, the storage unit 22 may store the target route information for one target route R, or may store the target route information for multiple target routes R. For example, if a specific operator generates multiple target routes R for one or multiple fields F that he or she owns, the target route information for each target route R is stored in the storage unit 22. Note that one target route R, or multiple target routes R, may be set for one field F.

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

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

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

[0088] The setting processing unit 211 sets information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field F (hereinafter referred to as field information), and information about how the work will be performed specifically (hereinafter referred to as work information). The setting processing unit 211 accepts setting operations by the operator on a setting screen (not shown) and registers each piece of setting information.

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

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

[0091] Information on the position and shape of the field F can be automatically obtained, for example, by having an operator get into the work vehicle 10 and drive it around the perimeter of the field F, recording the changes in position information of the positioning antenna 174 at that time. The position and shape of the field F can also be obtained based on a polygon obtained by the operator operating the operation terminal 20 to specify multiple points on a map displayed on the operation terminal 20. The area specified by the obtained position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

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

[0093] For example, the setting processing unit 211 sets a work area for actually performing work in a registered field F. For example, when the operator selects a field F for which to register a work area on the setting screen, the setting processing unit 211 displays a registration screen (map screen) for registering a work start position S and a work end position G. On the registration screen, the operator registers the work start position S and the work end position G at any position within the field F.

[0094] Furthermore, based on each piece of setting information, the setting processing unit 211 generates a target route R along which the work vehicle 10 will automatically travel in the field F. The operator registers each piece of information such as the field F, work implement 14, turning method, headland, vehicle speed, engine rotation, etc. on a registration screen (not shown), and then issues a route generation instruction. Upon receiving the route generation instruction, the setting processing unit 211 generates a target route R based on the work start position S, work end position G, and each piece of information.

[0095] 3, the setting processing unit 211 generates a target route R including a work start position S, a work route, a movement route (turning route), and a work end position G. The setting processing unit 211 associates the generated target route R with the field F and registers it.

[0096] The setting processing unit 211 also accepts an operation from the operator to select a driving mode on a mode selection screen D1 (see FIG. 5) for setting the driving mode. The mode selection screen D1 shown in FIG. 5 includes "auto mode" and "robot mode" as examples of driving modes. "Auto mode" is a driving mode in which the work vehicle 10 is driven automatically while an operator is on board the work vehicle 10 and performs driving operations. "Robot mode" is a driving mode in which the work vehicle 10 is driven automatically without an operator on board the work vehicle 10. In "auto mode," the operator can grasp the surrounding situation and operate the vehicle, so the obstacle detection function is excluded or the obstacle sensor 54 is set to disabled. In contrast, in "robot mode," the work vehicle 10 is driven unmanned, so the obstacle detection function is provided and the obstacle sensor 54 is set to enabled.

[0097] The output processing unit 212 outputs each setting information including route data of the target route R, driving mode information, etc. to the work vehicle 10. For example, when the operator selects a field F to be worked on and a work route (target route R) and issues a command to start work, the output processing unit 212 outputs route data of the target route R corresponding to the field F to the work vehicle 10.

[0098] The work vehicle 10 sets the driving mode selected on the operation terminal 20 (for example, "auto mode" or "robot mode"). Furthermore, when the work vehicle 10 receives route data for the target route R generated on the operation terminal 20, it stores the route data in the memory unit 12. When the work vehicle 10 satisfies the conditions for starting automatic driving, the operator can issue a driving start instruction on the operation screen D2 (see FIG. 6). Map information, target route information, and the like are displayed on the operation screen D2. When the operator presses the start button K1, the output processing unit 212 outputs a driving start instruction to the work vehicle 10. When automatic driving of the work vehicle 10 begins, the operation screen D2 displays the driving status, an image captured by the camera 53 (camera image), and the like. The operator can check the driving status, work progress, and the surrounding conditions of the work vehicle 10 on the operation screen D2 of the operation terminal 20.

[0099] Here, for example, when the work vehicle 10 is automatically traveling in robot mode (unmanned automatic traveling mode), if the obstacle detection device 15 detects a detection target as an obstacle within the stop control range Ra, the traveling processing unit 111 stops (temporarily stops) the automatic traveling of the work vehicle 10. FIG. 7 shows an example of the display of the operation screen D2 when the work vehicle 10 detects an obstacle. When the operation control unit 21 acquires the detection information from the obstacle detection device 15, as shown in FIG. 7, the operation control unit 21 displays identification information A1 indicating the position of the obstacle (here, forward) in the camera image field of the operation screen D2. Furthermore, the operation control unit 21 displays information indicating that an obstacle has been detected in the obstacle display unit K3 on the operation screen D2. For example, the operation control unit 21 lights up the obstacle display unit K3 on the operation screen D2. Furthermore, the operation control unit 21 switches the start button K1 to a grayed-out display, and prohibits acceptance of the start button K1 (an instruction to start automatic traveling).

[0100] When the operator recognizes from the display contents of the operation screen D2 shown in FIG. 7 that an obstacle has been detected, he or she moves to the location where the work vehicle 10 is stopped and checks the surroundings. For example, if the detected object is a movable material, the operator moves the detected object to remove it. As a result, when the obstacle detection device 15 no longer detects the detected object, the driving processing unit 111 permits the work vehicle 10 to drive automatically. In this case, the display of the identification information A1 is deleted from the operation screen D2, the obstacle display unit K3 is turned off, and the start button K1 becomes pressable. When the operator presses the start button K1, the driving processing unit 111 receives a driving start instruction from the operation terminal 20 and causes the work vehicle 10 to resume automatic driving.

[0101] On the other hand, if the detection target is not a person or an object but something that does not affect traveling, such as dust, the operator can disable the obstacle detection function so as not to interfere with work. For example, when the operator presses the obstacle display section K3 on the operation screen D2 (see FIG. 7), the operation control section 21 displays the sensor setting screen D3 shown in FIG. 8. The sensor setting screen D3 displays a reception section (ON / OFF button) for enabling ("ON") or disabling ("OFF") the function of each obstacle sensor 54 (front obstacle sensor, rear obstacle sensor, left obstacle sensor, left obstacle sensor) installed on the work vehicle 10, and a reception section (all ON button, all OFF button) for collectively enabling ("ON") or disabling ("OFF") the functions of all obstacle sensors 54. The operation control section 21 accepts a selection operation on the reception section from the operator.

[0102] When the operator presses the "All OFF button" on the sensor setting screen D3, the reception processing unit 213 accepts the selection operation, and the operation control unit 21 displays a warning screen D4 shown in FIG. 9. The warning screen D4 displays precautions to take when the function of the obstacle sensor 54 is disabled (OFF), such as a message that the work vehicle 10 will not automatically stop even if there are people or obstacles around it, and a message that automatic traveling cannot start unless the operator is seated in the driver's seat 138 of the work vehicle 10. When the operator confirms the warning screen D4 and presses the "Yes" button, the operation control unit 21 outputs setting information to the work vehicle 10 to disable the function of the obstacle sensor 54. When the setting processing unit 512 of the obstacle detection device 15 acquires the setting information from the operation terminal 20, it disables the function of the obstacle sensor 54.

[0103] When the function of the obstacle sensor 54 is disabled, the traveling processing unit 111 determines whether or not a predetermined condition related to the operator (for example, "the operator is in the driver's seat 138") is met, as described above. In this way, when the operation control unit 21 receives an operation from the operator to disable the function of the obstacle sensor 54, it displays the warning screen D4 and receives a confirmation operation from the operator on the warning screen D4. Then, when the setting processing unit 512 in the work vehicle 10 disables the function of the obstacle sensor 54, the traveling processing unit 111 determines whether or not the operator is in the driver's seat 138.

[0104] The driving processing unit 111 enables automatic driving when the operator is in the driver's seat 138 (seated in the driver's seat). In this case, if other automatic driving start conditions are met, for example, as shown in FIG. 10 , the operation control unit 21 displays each ON / OFF button and all OFF button in a selected state on the sensor setting screen D3, and displays the start button K1 in a pressable state. In addition, the operation control unit 21 displays information (an "!" mark) in the obstacle display unit K3 that indicates that the obstacle sensor 54 is disabled. As a result, when the operator presses the start button K1, the driving processing unit 111 obtains a driving start command from the operation terminal 20 and causes the work vehicle 10 to start (resume) automatic driving.

[0105] In response to this, the driving processing unit 111 prohibits automatic driving when the operator is not in the driver's seat 138 (is not seated in the driver's seat). In this case, for example, as shown in FIG. 11 , the operation control unit 21 lights up the status display unit K2 on the sensor setting screen D3. The status display unit K2 is a display field that indicates whether the automatic driving start conditions are met. The operation control unit 21 turns off the status display unit K2 when all the automatic driving start conditions are met, and turns on the status display unit K2 when at least one of the automatic driving start conditions is not met. When the status display unit K2 is lit, the operator can press the status display unit K2 to check the status (detailed information) of the automatic driving start conditions. Specifically, when the operator presses the status display unit K2, the operation control unit 21 displays a start condition screen D5 shown in FIG. 12. The start condition screen D5 displays whether each item of the multiple automatic driving start conditions is met in a manner that indicates whether the condition is met. Each item shown in FIG. 12 is an example of the automatic driving start condition of the present invention. Here, the "Seat Switch" item is lit because the operator is not seated in the driver's seat 138. The operation control unit 21 turns the seat switch on / off based on the ON / OFF signal of the seat detection unit 18 acquired from the vehicle control device 11. This allows the operator to understand that automatic driving is prohibited because the operator is not seated in the driver's seat 138. In this way, when the operator is not in the driver's seat 138, the operation control unit 21 displays, on the start condition screen D5, information indicating that the operator is not in the driver's seat 138 ("Seat Switch" is lit) and information indicating that acceptance of an instruction to start automatic driving is prohibited ("Start button K1" is grayed out).

[0106] When the operator, having checked the start condition screen D5 shown in Fig. 12, sits in the driver's seat, the driving processing unit 111 receives an ON signal from the seat detection unit 18, determines that the operator is seated in the driver's seat, and enables automatic driving. When all of the automatic driving start conditions are thereby met, the operation control unit 21 turns off the status display unit K2 on the start condition screen D5 as shown in Fig. 13, and displays the start button K1 in a pressable state. When the operator presses the start button K1, the driving processing unit 111 obtains a driving start instruction from the operation terminal 20 and causes the work vehicle 10 to start (resume) automatic driving.

[0107] In this way, when the functions of at least one of the multiple obstacle sensors 54 are set to disabled, the driving processing unit 111 enables automatic driving if the specified conditions are met, and prohibits automatic driving if the specified conditions are not met.

[0108] The operation terminal 20 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server is provided with the above-mentioned processing units and executes each process.

[0109] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0110] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. Furthermore, one or more steps included in the automatic driving process described herein may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same effects are achieved. Furthermore, while the description here uses as an example a case in which the vehicle control device 11 of the work vehicle 10 and the operation control unit 21 of the operation terminal 20 execute each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0111] It is assumed here that the automatic driving start conditions (items excluding "seat switch" shown in FIG. 13) other than the predetermined condition (for example, "the operator is in the driver's seat 138") are met.

[0112] <Step S1> In step S1, the operation control unit 21 determines whether or not an operation to disable (turn off) the function of the obstacle sensor 54 has been received from the operator. It is assumed here that the operator has set the driving mode to the unmanned automatic driving mode ("robot mode") on the mode selection screen D1 (see FIG. 5). If the operation control unit 21 has received an operation to disable the function of the obstacle sensor 54 from the operator (S1: Yes), the operation control unit 21 shifts the processing to step S2. On the other hand, if the operation control unit 21 has not received an operation to disable the function of the obstacle sensor 54 from the operator or has received an operation to enable the function of the obstacle sensor 54 (S1: No), the operation control unit 21 shifts the processing to step S6. For example, the operator performs an operation to disable the function of each obstacle sensor 54 or an operation to disable the functions of all obstacle sensors 54 collectively on the sensor setting screen D3 (see FIG. 8).

[0113] <Step S2> In step S2, the operation control unit 21 displays a warning screen D4 (see FIG. 9). That is, the operation control unit 21 displays a notice to be taken when the obstacle detection function is disabled to alert the operator, and asks whether or not the operator agrees to the disabling of the obstacle detection function.

[0114] <Step S3> In step S3, the operation control unit 21 determines whether the operator has agreed to disabling the obstacle detection function. If the operator has agreed, i.e., if the operator has pressed "Yes" on the warning screen D4 (see FIG. 9) (S3: Yes), the operation control unit 21 shifts the processing to step S4. On the other hand, if the operator has not agreed, i.e., if the operator has pressed "No" on the warning screen D4 (S3: No), the operation control unit 21 shifts the processing to step S1. If the operator has agreed, the operation control unit 21 outputs setting information to the work vehicle 10 that disables the function of the obstacle sensor 54. Upon acquiring the setting information, the vehicle control device 11 sets the function of the obstacle sensor 54 to be disabled.

[0115] <Step S4> In step S4, the vehicle control device 11 determines whether the seat switch (seat detection unit 18) is in the ON state. That is, the vehicle control device 11 determines whether the operator is in the driver's seat 138 (whether the operator is seated in the driver's seat). If the seat switch is in the ON state (S4: Yes), the vehicle control device 11 shifts the processing to step S5. On the other hand, if the seat switch is in the OFF state (S4: No), the vehicle control device 11 shifts the processing to step S41.

[0116] <Step S5> In step S5, the vehicle control device 11 permits the work vehicle 10 to drive automatically. When the vehicle control device 11 permits automatic driving, the operation control unit 21 displays a state in which an automatic driving start instruction can be received from the operator. For example, the operation control unit 21 displays the start button K1 in a state in which it can be pressed on the sensor setting screen D3 shown in FIG. 10. Also, for example, the operation control unit 21 displays the start button K1 in a state in which it can be pressed on the start condition screen D5 shown in FIG. 13. After step S5, the processing proceeds to step S6.

[0117] <Step S41> In step S41, the vehicle control device 11 prohibits the automatic driving of the work vehicle 10. When the vehicle control device 11 prohibits automatic driving, the operation control unit 21 displays a state in which it is not possible to accept an automatic driving start instruction from the operator. For example, the operation control unit 21 grays out the start button K1 on the sensor setting screen D3 shown in FIG. 11 and the start condition screen D5 shown in FIG. 12. Furthermore, for example, the operation control unit 21 lights up the status display unit K2 on the sensor setting screen D3 shown in FIG. 11 and the start condition screen D5 shown in FIG. 12. After step S41, the processing proceeds to step S4. The vehicle control device 11 prohibits automatic driving until the seat switch is turned on.

[0118] <Step S6> In step S6, the operation control unit 21 determines whether or not an automatic driving start instruction has been received from the operator. If the operation control unit 21 receives an automatic driving start instruction from the operator (S6: Yes), the operation control unit 21 transitions the processing to step S7. The operation control unit 21 waits until an automatic driving start instruction is received from the operator (S6: No). If the operation control unit 21 receives an automatic driving start instruction from the operator, it outputs the automatic driving start instruction to the work vehicle 10.

[0119] <Step S7> In step S7, the vehicle control device 11 causes the work vehicle 10 to start automatic traveling. For example, if the function of the obstacle sensor 54 is enabled (S1: No), the vehicle control device 11 causes the work vehicle 10 to automatically travel even when there is no operator in the driver's seat 138. On the other hand, if the function of the obstacle sensor 54 is disabled (S1: Yes), the vehicle control device 11 causes the work vehicle 10 to automatically travel on the condition that there is an operator in the driver's seat 138 (S4: Yes).

[0120] In addition, if the operator leaves (leaves) the driver's seat 138 after starting automatic driving with the function of the obstacle sensor 54 disabled, the vehicle control device 11 may stop or continue automatic driving.

[0121] <Step S8> In step S8, the vehicle control device 11 determines whether the work vehicle 10 has finished work, i.e., whether the work vehicle 10 has reached the work end position G. When the work vehicle 10 has reached the work end position G (S8: Yes), the vehicle control device 11 ends the automatic driving process. On the other hand, when the work vehicle 10 has not reached the work end position G (S8: No), the vehicle control device 11 transitions the process to step S81.

[0122] <Step S81> In step S81, the operation control unit 21 determines whether or not it has received a setting change operation to set the function of the obstacle sensor 54. For example, if the obstacle detection device 15 detects an obstacle while the work vehicle 10 is traveling automatically and the work vehicle 10 stops traveling automatically, the operation control unit 21 determines whether or not it has received an operation from the operator to switch the function of the obstacle sensor 54 from enabled to disabled. The operation control unit 21 also determines whether or not it has received an operation from the operator to switch the function of the obstacle sensor 54 from disabled to enabled.

[0123] If the operation control unit 21 has accepted the setting change operation (S81: Yes), the operation control unit 21 shifts the process to step S1. On the other hand, if the operation control unit 21 has not accepted the setting change operation (S81: No), the operation control unit 21 shifts the process to step S8.

[0124] When the operation control unit 21 receives the setting change operation and returns to step S1, it determines whether or not it has received a setting operation from the operator to disable the function of the obstacle sensor 54. If it receives a setting operation from the operator to disable the function of the obstacle sensor 54 (S1: Yes), it executes the processes of steps S2 to S8 again.

[0125] In this manner, the operation control unit 21 and the vehicle control device 11 repeatedly execute the above-described processing until the work vehicle 10 finishes the work.

[0126] As described above, the automated driving system 1 according to this embodiment is a system that automatically drives the work vehicle 10 in a field F (work area) according to a target route R. The automated driving system 1 also enables or disables the function of the obstacle sensor 54, which detects objects around the work vehicle 10. When the function of the obstacle sensor 54 is disabled, the automated driving system 1 enables automated driving if a predetermined condition related to the operator is met, and prohibits automated driving if the predetermined condition related to the operator is not met. For example, the automated driving system 1 permits the operator to accept an instruction to start automated driving when the operator is in the driver's seat 138 of the work vehicle 10 and other conditions for starting automated driving are met, and prohibits the operator from accepting an instruction to start automated driving when the operator is not in the driver's seat 138 of the work vehicle 10.

[0127] In this way, when the obstacle detection function is disabled in the unmanned automatic driving mode, the automatic driving system 1 adds the presence of an operator in the driver's seat 138 to the conditions for starting automatic driving, and allows the start of automatic driving when each automatic driving start condition is met.

[0128] According to the above configuration, for example, when the work vehicle 10 detects a detection target such as dust that does not affect driving as an obstacle and causes a disruption to work, even if the operator disables the obstacle detection function, the work vehicle 10 can resume automatic driving, provided that the operator is in the driver's seat 138. This makes it possible for the work vehicle 10 to drive automatically without reducing work efficiency while ensuring safety.

[0129] [Other embodiments] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0130] The predetermined condition of the present invention is not limited to the above-mentioned "the operator is in the driver's seat 138 inside the work vehicle 10." The predetermined condition may be, for example, "the operator is remotely monitoring." For example, when the function of the obstacle sensor 54 is disabled, the automatic driving system 1 enables automatic driving when the operator can monitor the surroundings of the work vehicle 10 using the remote monitoring terminal, and prohibits automatic driving when the operator cannot monitor the surroundings of the work vehicle 10 using the remote monitoring terminal. Specifically, the automatic driving system 1 may enable automatic driving when an image captured by the camera 53 (forward image, rearward image, side image, etc.) is displayed on the remote monitoring terminal (condition A), or may enable automatic driving when it is detected that the operator is directing his or her gaze toward the remote monitoring terminal on which the image captured by the camera 53 is displayed (condition B). In addition, the automatic driving system 1 may enable automatic driving when at least one of the conditions A and B is satisfied and the operator is able to remotely stop the automatic driving (for example, when a stop button for stopping the automatic driving is displayed in an operable state on the remote monitoring terminal).

[0131] According to the above configuration, for example, if a work vehicle 10 that is traveling automatically detects an object that does not affect the traveling as an obstacle and stops, the operator can check the camera image on the remote monitoring terminal to confirm the safety of the surrounding area, disable the obstacle detection function, and resume the automatic traveling.

[0132] In another embodiment, the predetermined condition may be "obtaining confirmation (approval) from the operator of a warning including precautions to be taken when the obstacle detection function is disabled." For example, after the operator disables the function of the obstacle sensor 54, if the operator presses "Yes" on the warning screen D4 shown in Fig. 9, automatic driving may be enabled, and if the operator presses "No," automatic driving may be prohibited.

[0133] In the above-described embodiment, the operator can select "ON" or "OFF" for the function of the obstacle sensor 54 on the sensor setting screen D3 (see FIG. 8). In another embodiment, the operation control unit 21 may be configured to adjust the sensitivity of the obstacle sensor 54 (detection sensitivity of the detection target) on the sensor setting screen D3, as shown in FIG. 15. For example, the operation control unit 21 may display a screen in which the sensitivity of each obstacle sensor 54 can be adjusted to three levels: "low," "medium," and "high," and the sensitivity of all obstacle sensors 54 can be adjusted collectively. In this configuration, for example, when the sensitivity of the obstacle sensor 54 is set to "low," the predetermined condition (e.g., "the operator must be in the driver's seat 138") is added to the automatic driving start conditions, and the automatic driving is permitted to start when each automatic driving start condition is satisfied. On the other hand, when the sensitivity of the obstacle sensor 54 is set to "medium" or "high," the predetermined condition is not added to the automatic driving start conditions, and the automatic driving is permitted to start when other automatic driving start conditions are satisfied.

[0134] The sensitivity may be configured in four stages, including "0" (OFF). The automated driving system 1 may also determine whether or not to include the predetermined condition in the automated driving start conditions based on the reference sensitivity set by the operator. For example, if the operator sets the reference sensitivity to "medium," the predetermined condition is added to the automated driving start conditions when the sensitivity of the obstacle sensor 54 is set to "low" or "medium." For example, if the operator sets the reference sensitivity to "0," the predetermined condition is added to the automated driving start conditions when the sensitivity of the obstacle sensor 54 is set to "0."

[0135] The method for setting the sensitivity is not limited to the method shown in Fig. 15, and may be set using a slide bar as shown in Fig. 16. In the example shown in Fig. 16, when the sensitivity of the obstacle sensor 54 is set to a sensitivity lower than a preset reference position M1, the predetermined condition is added to the automatic driving start conditions, and automatic driving is permitted to start when each automatic driving start condition is satisfied. Note that the reference position M1 may be set and changed by the operator.

[0136] In other words, the automatic driving system 1 may be configured to set the sensitivity of the obstacle sensor 54, and if the sensitivity is set to less than a predetermined sensitivity, enable automatic driving if predetermined conditions related to the operator are met, and prohibit automatic driving if the predetermined conditions related to the operator are not met.

[0137] In the above-described embodiment, when at least one of the obstacle sensors 54 is disabled, the automatic driving system 1 adds the predetermined condition to the automatic driving start conditions, and prohibits automatic driving if the predetermined condition is not met. In another embodiment, the automatic driving system 1 may determine whether to permit automatic driving for each obstacle sensor 54 based on the function setting state. For example, as shown in FIG. 17 , when the operator turns off the rear obstacle sensor 54b and turns on the other obstacle sensors 54, the operation control unit 21 displays a warning message about disabling the rear obstacle sensor on a warning screen D4, as shown in FIG. 18 . When the operator presses “Yes” on the warning screen D4, the driving processing unit 111 adds the predetermined condition to the automatic driving start conditions for automatic driving backward (reverse automatic driving), but does not add the predetermined condition to the automatic driving start conditions for automatic driving forward (forward automatic driving). As a result, for example, the driving processing unit 111 enables automatic reverse driving when an operator is present in the driver's seat 138 (seated in the driver's seat 138), and prohibits automatic reverse driving when an operator is not present in the driver's seat 138 (not seated in the driver's seat 138). Furthermore, when driving forward, the driving processing unit 111 permits automatic driving regardless of whether an operator is present in the driver's seat 138 or not.

[0138] In this way, when the work vehicle 10 travels in the direction detected by an obstacle sensor 54 of the multiple obstacle sensors 54 whose function is disabled, the automated driving system 1 enables automated driving if the predetermined condition is met, and prohibits automated driving if the predetermined condition is not met. Furthermore, when the work vehicle 10 travels in the direction detected by an obstacle sensor 54 of the multiple obstacle sensors 54 whose function is enabled, the automated driving system 1 enables automated driving regardless of the predetermined condition. In other words, the automated driving system 1 may add the predetermined condition to the automated driving start conditions for travel toward an area where the obstacle detection function is disabled.

[0139] In another embodiment, the autonomous driving system 1 may be configured to allow the operator to select the terminal that will start autonomous driving (autonomous driving start terminal). For example, as shown in the start terminal selection screen D6 in FIG. 19, the operation control unit 21 displays a "tablet" or a "remote control" as selectable, and accepts an operation from the operator to select one of them. The tablet corresponds to the operation terminal 20. The remote control is an operating tool different from the operation terminal 20, and includes, for example, an autonomous driving start button and a stop button (emergency stop button, pause button, etc.), and can be operated within a predetermined distance from the work vehicle 10.

[0140] When the "remote control" is selected as the automatic driving start terminal, the automatic driving system 1 permits the automatic driving start operation using the remote control, provided that the obstacle detection function is enabled. On the other hand, when the "remote control" is selected as the automatic driving start terminal and the obstacle detection function is disabled, the automatic driving system 1 prohibits the automatic driving start operation using the remote control and transfers the automatic driving start authority to the tablet (operation terminal 20), that is, changes the automatic driving start terminal to the tablet (operation terminal 20). In this case, when the operator disables the obstacle detection function with the "remote control" selected as the automatic driving start terminal, the operation control unit 21 may display a message on the warning screen D4, as shown in FIG. 20, indicating that the automatic driving start authority will be changed to the tablet. Note that when the obstacle detection function is switched from disabled to enabled, the automatic driving system 1 may return the automatic driving start authority to the remote control.

[0141] Note that operations such as changing the obstacle detection function settings (enable / disable), checking the status of the work vehicle 10, and setting operations related to the driving of the work vehicle 10 are permitted only on the tablet; these operations cannot be performed on the remote control. Furthermore, the communication distance of the tablet is shorter than that of the remote control, so it is unlikely that an operator will enter the work vehicle 10 holding only the remote control. Conversely, a situation in which the operator enters the work vehicle 10 holding only the tablet, with a supervisor holding the remote control in a remote location, is conceivable. In this case, if the remote control has the authority to start automatic driving, an operator who enters the work vehicle 10 holding only the tablet would not be able to perform the automatic driving start operation, which would be inconvenient. In this regard, with the above configuration, the operator can disable the obstacle detection function on the tablet, which changes the authority to start automatic driving to the tablet, allowing the operator to perform the automatic driving start operation.

[0142] In another embodiment, when the obstacle detection device 15 detects an obstacle and the work vehicle 10 stops autonomous traveling, the driving processing unit 111 may continue autonomous traveling with the obstacle detection function enabled if the predetermined condition is met. For example, when the obstacle detection device 15 detects an obstacle and the work vehicle 10 stops autonomous traveling, the driving processing unit 111 may continue autonomous traveling by keeping the obstacle detection function enabled without disabling it if the operator is in the driver's seat 138. In this case, for example, the driving processing unit 111 may ignore the detection result of the obstacle sensor 54 that is detecting an obstacle and enable the detection results of the other obstacle sensors 54 to continue autonomous traveling.

[0143] In the above-described embodiment, when the function of the obstacle detection device 15 is disabled, the driving processing unit 111 enables automatic driving when a predetermined condition related to the operator is met and prohibits automatic driving when the predetermined condition related to the operator is not met. In another embodiment, when the function of the obstacle detection device 15 is disabled, the driving processing unit 111 may enable automatic driving when a predetermined condition related to the work vehicle 10 is met and prohibit automatic driving when the predetermined condition related to the work vehicle 10 is not met. For example, when the function of the obstacle detection device 15 is disabled, the driving processing unit 111 enables automatic driving when the vehicle speed is less than a predetermined vehicle speed and prohibits automatic driving when the vehicle speed is equal to or greater than the predetermined vehicle speed. Furthermore, for example, when the function of the obstacle detection device 15 is disabled, the driving processing unit 111 enables automatic driving when the vehicle is traveling straight ahead and prohibits automatic driving when the vehicle is traveling in a turn. Furthermore, for example, when the function of the obstacle detection device 15 is disabled, the driving processing unit 111 may determine whether to enable automatic driving depending on the work content. That is, the predetermined conditions related to the work vehicle 10 may be conditions related to the vehicle speed, the travel route, the type of work, and the like.

[0144] [Notes on the Invention] The following is a summary of the invention extracted from the embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0145] <Appendix 1> An automatic driving method for automatically driving a work vehicle along a target route in a work area, comprising: setting a function of a detection unit that detects a detection target around the work vehicle to be enabled or disabled; When the function of the detection unit is set to be disabled, automatic traveling is enabled when a predetermined condition related to the operator is satisfied, and automatic traveling is prohibited when the predetermined condition related to the operator is not satisfied; An automated driving method that performs the above.

[0146] <Appendix 2> The function of the detection unit is enabled or disabled in response to an operation by an operator. 1. The automated driving method according to claim 1.

[0147] <Appendix 3> When the function of the detection unit is set to be enabled, automatic driving is enabled regardless of the predetermined conditions. 10. The automated driving method according to claim 1 or 2.

[0148] <Appendix 4> When the function of the detection unit is set to disabled, automatic driving is permitted when the predetermined condition and an automatic driving start condition for the work vehicle are satisfied. 4. The automatic driving method according to any one of appendices 1 to 3.

[0149] <Appendix 5> The predetermined condition is that an operator is at a control location within the work vehicle. 5. The automatic driving method according to any one of appendices 1 to 4.

[0150] <Appendix 6> When the function of the detection unit is disabled, determining whether an operator is present at the control location; When the operator is in the control location and other conditions for starting automatic driving are satisfied, acceptance of an instruction to start automatic driving from the operator is permitted. 1. The automated driving method described in Appendix 5.

[0151] <Appendix 7> When the function of the detection unit is set to be disabled, a warning screen is displayed on an operation terminal of an operator; When a confirmation operation by the operator is received on the warning screen, it is determined whether or not the operator is present at the control location. 6. The automated driving method according to claim 6.

[0152] <Appendix 8> When the operator is not at the control location, displaying on the operator's operation terminal information indicating that the operator is not at the control location and information indicating that acceptance of an instruction to start automatic driving is prohibited; 8. The automated driving method according to claim 6 or 7.

[0153] <Appendix 9> The work vehicle includes a plurality of the detection units each having a different detection range, When the function of at least one of the plurality of detection units is set to be disabled, the automatic driving is enabled when the predetermined condition is satisfied, and the automatic driving is prohibited when the predetermined condition is not satisfied. An automatic driving method according to any one of appendices 1 to 8.

[0154] <Appendix 10> The work vehicle includes a plurality of the detection units each having a different detection range, When the work vehicle travels in a direction detected by a detection unit of the plurality of detection units whose function is set to disabled, automatic travel is enabled if the predetermined condition related to the operator is satisfied, and automatic travel is prohibited if the predetermined condition related to the operator is not satisfied; When the work vehicle travels in a direction detected by a detection unit of the plurality of detection units whose function is enabled, automatic travel is enabled regardless of the predetermined conditions. An automatic driving method according to any one of appendices 1 to 9.

[0155] <Appendix 11> An automatic driving method for automatically driving a work vehicle along a target route in a work area, comprising: setting sensitivity of a detection unit that detects a detection target around the work vehicle; When the sensitivity of the detection unit is set to less than a predetermined sensitivity, automatic traveling is enabled when a predetermined condition related to the operator is satisfied, and automatic traveling is prohibited when the predetermined condition related to the operator is not satisfied; An automated driving method that performs the above. [Explanation of symbols]

[0156] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 12: Storage section 13: Running gear 14: Work equipment 15: Obstacle detection device 16: Communications Department 17: Positioning unit 18: Sheet detection unit 20: Operation terminal 21: Operation control section 24: Communications Department 51: Detection control unit 52: Storage section 53: Camera 54: Obstacle sensor (detection unit) 111: Driving processing unit 138: Driver's seat (control location) 211: Setting processing section 212: Output processing section 213: Reception processing unit 511: Detection processing unit 512: Setting processing section D1: Mode selection screen D2: Operation screen D3: Sensor setting screen D4: Warning screen D5:Start condition screen D6: Starting device selection screen F: Field (working area) R: Target route

Claims

1. An automatic driving method for automatically driving a work vehicle along a target route in a work area, comprising: setting a function of a detection unit that detects a detection target around the work vehicle to be enabled or disabled; When the function of the detection unit is set to be disabled, automatic traveling is enabled when a predetermined condition related to the operator is satisfied, and automatic traveling is prohibited when the predetermined condition related to the operator is not satisfied; An automated driving method that performs the above.

2. The function of the detection unit is enabled or disabled in response to an operation by an operator. The automatic driving method according to claim 1 .

3. When the function of the detection unit is set to be enabled, automatic driving is enabled regardless of the predetermined conditions. The automatic driving method according to claim 1 .

4. When the function of the detection unit is set to disabled, automatic driving is permitted when the predetermined condition and an automatic driving start condition for the work vehicle are satisfied. The automatic driving method according to claim 1 .

5. The predetermined condition is that an operator is at a control location within the work vehicle. The automatic driving method according to claim 1 .

6. When the function of the detection unit is disabled, determining whether an operator is present at the control location; When the operator is in the control location and other conditions for starting automatic driving are satisfied, acceptance of an instruction to start automatic driving from the operator is permitted. The automatic driving method according to claim 5.

7. When the function of the detection unit is set to be disabled, a warning screen is displayed on an operation terminal of an operator; When a confirmation operation by the operator is received on the warning screen, it is determined whether or not the operator is present at the control location. The automatic driving method according to claim 6.

8. When the operator is not at the control location, displaying information indicating that the operator is not at the control location and information indicating that acceptance of an instruction to start automatic driving is prohibited on the operator's operation terminal. The automatic driving method according to claim 6.

9. The work vehicle includes a plurality of the detection units each having a different detection range, When the function of at least one of the plurality of detection units is set to be disabled, the automatic driving is enabled when the predetermined condition is satisfied, and the automatic driving is prohibited when the predetermined condition is not satisfied. The automatic driving method according to any one of claims 1 to 8.

10. The work vehicle includes a plurality of the detection units each having a different detection range, When the work vehicle travels in a direction detected by a detection unit of the plurality of detection units whose function is set to disabled, automatic travel is enabled if the predetermined condition related to the operator is satisfied, and automatic travel is prohibited if the predetermined condition related to the operator is not satisfied; When the work vehicle travels in a direction detected by a detection unit of the plurality of detection units whose function is enabled, automatic travel is enabled regardless of the predetermined conditions. The automatic driving method according to any one of claims 1 to 8.

11. An automatic driving method for automatically driving a work vehicle along a target route in a work area, comprising: setting sensitivity of a detection unit that detects a detection target around the work vehicle; When the sensitivity of the detection unit is set to less than a predetermined sensitivity, automatic traveling is enabled when a predetermined condition related to the operator is satisfied, and automatic traveling is prohibited when the predetermined condition related to the operator is not satisfied; An automated driving method that performs the above.

12. An automatic driving program that automatically drives a work vehicle along a target route in a work area, setting a function of a detection unit that detects a detection target around the work vehicle to be enabled or disabled; When the function of the detection unit is set to be disabled, automatic traveling is enabled when a predetermined condition related to the operator is satisfied, and automatic traveling is prohibited when the predetermined condition related to the operator is not satisfied; An automated driving program for executing the above on one or more processors.

13. An automated driving system that automatically drives a work vehicle along a target route in a work area, a setting processing unit that enables or disables a function of a detection unit that detects a detection target around the work vehicle; a travel processing unit that enables automatic travel when a predetermined condition related to an operator is satisfied and prohibits automatic travel when the predetermined condition related to the operator is not satisfied, when the function of the detection unit is disabled; An autonomous driving system equipped with

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