Work vehicle control system

Abstract

This invention provides a work vehicle control device that enables automated operation of work vehicles with simple settings. [Solution] This disclosure provides a work vehicle control device 10 for automatically driving a work vehicle WV to a set destination, comprising: a vehicle position information acquisition unit 11 that acquires vehicle position information relating to the position of the work vehicle WV; a vehicle orientation information acquisition unit 12 that acquires vehicle orientation information relating to the orientation of the work vehicle WV; a determination unit 22 that determines whether the destination is located behind the work vehicle WV based on the vehicle position information acquired by the vehicle position information acquisition unit 11, the vehicle orientation information acquired by the vehicle orientation information acquisition unit 12, and destination position information which is the location of the destination; and a vehicle control unit 24 that controls the work vehicle WV to move in reverse if the determination unit 22 determines that the destination is located behind the work vehicle WV, and controls the work vehicle WV to move forward if the determination unit 22 determines that the destination is located in front of the work vehicle WV.

Description

Technical Field

[0001] The present disclosure relates to a work vehicle control device.

Background Art

[0002] Patent Document 1 discloses a control device for a work machine such as a wheel loader. This control device for a work machine is mounted on, for example, a work machine, controls the operations of each part of the work machine, and causes the work machine to perform an automatic operation. The route planning unit of the automatic operation control device generates a transport route based on the input information. The transport route is a route of the work machine that loads the load at the loading position, retreats from the loading position to the turning position, advances from the turning position, and loads and unloads the load at the loading and unloading position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the control device for the work machine (work vehicle) described in Patent Document 1, a transport route connecting the loading position, the turning position, and the loading and unloading position is generated. However, generally, since the work vehicle is set to advance on the transport route, it is difficult to simply generate the transport route and then retreat the work vehicle from the loading position to the turning position. Therefore, it is necessary to set on the system to make the work vehicle retreat in the area between the loading position and the turning position of the transport route and make the work vehicle advance in the area between the turning position and the loading and unloading position, which may result in complicated setting work.

[0005] Therefore, an object of the present disclosure is to provide a work vehicle control device capable of automatically driving a work vehicle with a simple setting.

Means for Solving the Problems

[0006] To solve the above problems, a first aspect of the present invention is a work vehicle control device for automatically driving a work vehicle to a set destination, comprising: a vehicle position information acquisition means for acquiring vehicle position information relating to the position of the work vehicle; a vehicle orientation information acquisition means for acquiring vehicle orientation information relating to the orientation of the work vehicle; a determination means for determining whether the destination is located behind the work vehicle based on the vehicle position information acquired by the vehicle position information acquisition means, the vehicle orientation information acquired by the vehicle orientation information acquisition means, and destination position information which is the location information of the destination; and a vehicle control means for controlling the work vehicle to move in reverse when the determination means determines that the destination is located behind the work vehicle, and for controlling the work vehicle to move forward when the determination means determines that the destination is located in front of the work vehicle.

[0007] A second aspect of the present invention is a work vehicle control device according to the first aspect, comprising a route generation means for generating a route to the destination based on the vehicle position information and the destination position information, wherein the route generation means provides a virtual wall to the side of the work vehicle and generates a route in which the work vehicle does not come into contact with the virtual wall.

[0008] A third aspect of the present invention is a work vehicle control device according to the second aspect, wherein the virtual wall includes a virtual curved wall that curves outward in the width direction at the end of the work vehicle on the direction of travel side, and the radius of the virtual curved wall is set to be greater than the minimum inner turning radius of the work vehicle. [Effects of the Invention]

[0009] According to this disclosure, it is possible to provide a work vehicle control device that enables the automatic operation of work vehicles with simple settings. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic overall configuration diagram of a system including a work vehicle control device according to one embodiment of the present invention. [Figure 2] This is an explanatory diagram showing an example of a hardware configuration. [Figure 3] This is a block diagram of the work vehicle control system. [Figure 4] This is an explanatory diagram showing an example of a work vehicle's movement route. [Figure 5] This is an explanatory diagram regarding the generation of routes for work vehicles. [Figure 6] This is an explanatory diagram of the minimum inner turning radius of a work vehicle. [Figure 7] This is a flowchart of the work vehicle control process. [Modes for carrying out the invention]

[0011] One embodiment of the present invention will be described below with reference to the drawings.

[0012] Figure 1 is a schematic overall configuration diagram of a system including a work vehicle control device according to one embodiment of the present invention. Figure 2 is an explanatory diagram showing an example of the hardware configuration. Figure 3 is a block diagram of the work vehicle control device. Figure 4 is an explanatory diagram showing an example of the movement path of the work vehicle. Figure 5 is an explanatory diagram of the path generation of the work vehicle. Figure 6 is an explanatory diagram of the inner minimum turning radius of the work vehicle. Note that the outlined isosceles triangles in Figures 4 and 5 indicate the direction in which their vertex angles point, which is the direction of the work vehicle (front side). Also, in the following explanation, "forward and backward direction" refers to the forward and backward direction of the work vehicle (vehicle body), regardless of the direction of travel.

[0013] A work vehicle control device 10 according to one embodiment of the present invention is a device that automatically drives a work vehicle WV to a destination. As shown in Figure 1, the work vehicle control device 10 of this embodiment is mounted on the work vehicle WV and receives input of a location (destination such as a work site or relay point) from a terminal 1 connected via a network NW, and automatically drives the work vehicle WV toward the input location. The terminal 1 may be an information processing device installed in a management center or the like, or it may be a portable terminal that can be carried around. In this embodiment, the work vehicle control device 10 is mounted on the work vehicle WV, but it is not limited to this, and for example, some functions of the work vehicle control device 10 may be provided on other information processing devices (including terminal 1) connected via a network NW.

[0014] (Work vehicles) A work vehicle (WV) is a vehicle used for performing work, for example, at a construction site, and its type is not particularly limited. In this embodiment, a wheel loader will be used as the work vehicle (WV) for the explanation.

[0015] As shown in Figure 1, the wheel loader (work vehicle WV) has an articulated body in which the front body FB and the rear body RB are connected by a center pin (not shown). The front body FB and the rear body RB are connected via the center pin so as to bend left and right. The front body FB is provided with left and right front wheels fw, and the rear body RB is provided with left and right rear wheels rw. A bucket b is attached to the front body FB via left and right arms a. The rear body RB is equipped with an engine (not shown) and the like that generates power to drive the work vehicle WV. The rear body RB is also provided with a cab c in which workers and others ride.

[0016] As shown in Figure 2, the work vehicle WV comprises a work vehicle control device 10, a drive system 30 for driving the work vehicle WV, a braking system 40 for braking the work vehicle WV, a steering system 50 for steering the work vehicle WV, and an obstacle detection unit 60.

[0017] The drive system device 30 includes various devices (engine, transmission, differential device, etc., not shown) for transmitting the power of the engine to the left and right front wheels fw and rear wheels rw. The brake system device 40 includes various devices (brake hydraulic pump, brake device, etc., not shown) for braking the work vehicle WV. The steering system device 50 includes various devices (steering hydraulic pump, etc.) for steering the work vehicle WV by bending the articulated vehicle body. The drive system device 30, the brake system device 40, and the steering system device 50 are controlled by a controller 20 (described later) of the work vehicle control device 10. Note that the drive system device 30, the brake system device 40, and the steering system device 50 may also be manually controllable by an operator operating pedals, levers, steering wheels, etc., not shown, provided in the cab c.

[0018] The obstacle detection unit 60 is a device for detecting obstacles in the traveling direction of the work vehicle WV. The obstacle detection unit 60 is not particularly limited, and examples include a camera, an ultrasonic sensor, a millimeter-wave radar, a 3D-LiDAR (Light Detection and Ranging), etc. The obstacle detection unit 60 acquires information on the road surface in the traveling direction (including both forward and backward travel; the same applies hereinafter) of the work vehicle WV and sequentially transmits it to a controller 20 (described later) of the work vehicle control device 10.

[0019] In the present embodiment, a 3D-LiDAR is used as the obstacle detection unit 60. The 3D-LiDAR as the obstacle detection unit 60 acquires information on the road surface in the traveling direction (including both forward and backward travel; the same applies hereinafter) of the work vehicle WV as three-dimensional point cloud data. Each point of the three-dimensional point cloud data acquired by the 3D-LiDAR is defined by X, Y, and Z coordinates. The work vehicle WV is provided with a vehicle position information acquisition unit 11 (described later), and based on the information (latitude, longitude, altitude) acquired by the vehicle position information acquisition unit 11, the three-dimensional point cloud data defined by the X, Y, and Z coordinates by the 3D-LiDAR can be converted into latitude, longitude, and altitude. Thereby, a three-dimensional image on the road surface in the traveling direction of the work vehicle WV can be acquired.

[0020] <Work vehicle control device> The work vehicle control device 10 includes a vehicle position information acquisition unit (vehicle position information acquisition means) 11, a vehicle orientation information acquisition unit (vehicle orientation information acquisition means) 12, and a controller 20.

[0021] (Vehicle position information acquisition unit) The vehicle position information acquisition unit 11 acquires information regarding the position of the work vehicle WV (hereinafter referred to as "vehicle position information"). Examples of the vehicle position information acquisition unit 11 include GPS (Global Positioning System), GNSS (Global Navigation Satellite System), etc. The vehicle position information is three-dimensional position information capable of specifying the position (latitude, longitude, altitude) of the work vehicle WV. The vehicle position information acquisition unit 11 acquires the vehicle position information and sequentially transmits it to the controller 20.

[0022] (Vehicle orientation information acquisition unit) The vehicle orientation information acquisition unit 12 acquires information regarding the orientation of the work vehicle WV (hereinafter referred to as "vehicle orientation information"). As the vehicle orientation information acquisition unit 12, a generally used azimuth sensor can be applied. The orientation of the work vehicle WV is the direction with the bucket b side of the front body FB as the front. The vehicle orientation information acquisition unit 12 acquires the vehicle orientation information and sequentially transmits it to the controller 20. Note that a plurality of GNSSs may be provided on the work vehicle WV, and the vehicle orientation information may be acquired (detected) based on the three-dimensional position information acquired by the plurality of GNSSs.

[0023] (Controller) As shown in FIG. 2, the controller 20 is a device that performs operations such as a computer, and includes a location storage unit 21, a determination unit (determination means) 22, a route generation unit (route generation means) 23, and a vehicle control unit (vehicle control means) 24.

[0024] (Hardware configuration) As shown in Figure 3, the controller 20 is a computer or other computing device, and includes a communication unit H1, an input unit H2, a display unit H3, a storage unit H4, and a processor H5, which are connected via a bus H6 for access. Terminal 1 may have a similar hardware configuration. Furthermore, this hardware configuration is just an example, and it can be implemented with other hardware.

[0025] The communication unit H1 is a communication interface that establishes a communication route with other devices and performs data transmission and reception, such as a network interface or a wireless interface. In this embodiment, the communication unit H1 of the controller 20 is connected to the terminal 1 via a network NW so that they can communicate with each other. The network may be a closed network or an open network.

[0026] The input unit H2 is a device that accepts various types of information, such as a mouse or keyboard.

[0027] The display unit H3 is a display unit such as a monitor (display) that displays various information. If the monitor is a touch panel monitor that can accept input, the monitor may have the function of an input unit H2 in addition to the function of a display unit H3.

[0028] The memory unit H4 is a storage device that stores data and programs for executing various functions of the controller 20. Examples of memory units H4 include ROM (Read Only Memory), RAM (Random Access Memory), and hard disks.

[0029] The processor H5 controls each process in the controller 20 using programs and data stored in the memory unit H4. Examples of processor H5 include a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). This processor H5 loads programs stored in ROM or the like into RAM and executes various processes for each operation. Specifically, the processor H5 functions as a determination unit (determination means) 22, a route generation unit (route generation means) 23, and a vehicle control unit (vehicle control means) 24 by executing programs stored in the memory unit H4. Alternatively, some of the functions of the processor H5 may be extracted and the extracted functions may be provided in other information processing devices (e.g., terminal 1), and each process may be executed using multiple information processing devices.

[0030] (Location memory section) The location memory unit 21 shown in Figure 2 is included in the memory unit H4 and stores location information for multiple locations that can be destinations for the work vehicle WV, and information regarding the orientation of the work vehicle WV at each location (hereinafter referred to as "set orientation information"). The location information for a location may be information for a predetermined location (pinpoint) or information for a predetermined area. The location information for a location may be any information that can identify a location, for example, absolute location information such as latitude, longitude, and altitude, or relative location information that can identify a location on a predetermined map that includes absolute location information. The set orientation information is stored in association with each location.

[0031] An example of location information and orientation information for multiple locations stored in the location memory unit 21 will be explained with reference to Figure 4. As shown in Figure 4, the location memory unit 21 of this embodiment stores location information for three locations (first work site P1, second work site P2, and relay site P3), and orientation information for each location (shown as a white isosceles triangle in the figure). The orientation information for the first work site P1 and the second work site P2 is set to a direction suitable for the work. The orientation information for the relay site P3 is set to a direction toward the next destination (first work site P1 or second work site P2).

[0032] The first work site P1 is the point where loading operations are performed, for example, by scooping up soil and sand with the bucket b of the work vehicle WV and loading it into bucket b. The second work site P2 is the point where loading and unloading operations are performed, for example, by loading the soil and sand in bucket b onto the cargo bed of a transport vehicle such as a dump truck. The relay point P3 is the point between the first work site P1 and the second work site P2, where the work vehicle WV is turned around. The work vehicle WV reverses from the first work site P1 (or the second work site P2) towards the relay point P3, turns its steering direction at the relay point P3, and moves forward towards the second work site P2 (or the first work site P1).

[0033] In this embodiment, the location information and orientation information of multiple locations that can be destinations for the work vehicle WV are set from terminal 1 via the network NW, but this is not limited to this. For example, the location information and orientation information of multiple locations may be input and set from input unit H2 provided in the cab c of the work vehicle WV. Alternatively, if the destination is predetermined, the location information and orientation information of that destination location may be stored in the location storage unit 21 in advance. Furthermore, in this embodiment, movement between three points is described as an example, but this is not limited to this; it may be movement between two points, or movement between four or more points.

[0034] (Judgment Department) The determination unit 22 shown in Figure 2 determines whether the destination is located behind the work vehicle WV based on the vehicle position information acquired by the vehicle position information acquisition unit 11 (hereinafter sometimes simply referred to as "vehicle position information"), the vehicle orientation information acquired by the vehicle orientation information acquisition unit 12 (hereinafter sometimes simply referred to as "vehicle orientation information"), and the destination position information, which is the location information of the destination. For example, the determination unit 22 may determine whether the destination is located behind the rear end of the work vehicle WV. The position of the rear end of the work vehicle WV can be determined from the size and shape of the work vehicle WV, which are stored in advance, and the installation position of the vehicle position information acquisition unit 11 (e.g., GNSS) on the work vehicle WV. The destination is selected from the first work point P1, the second work point P2, and the relay point P3, depending on the current position of the work vehicle WV (vehicle position information) and the current work status. As shown in Figure 4, when moving from the first work site P1 to the second work site P2, or from the second work site P2 to the first work site P1, the movement must always pass through the relay point P3.

[0035] For example, as shown in Figure 4, when the loading operation of the work vehicle WV1 is completed at the first work site P1, the next destination is selected as the relay site P3. In this case, the determination unit 22 determines that the destination (relay site P3) is located behind the work vehicle WV1 based on the vehicle position information, the vehicle orientation information, and the destination position information (location information of relay site P3).

[0036] Furthermore, as shown in Figure 4, when moving from the first work point P1 to the relay point P3, the second work point P2 is selected as the next destination. In this case, the determination unit 22 determines, based on the vehicle position information, vehicle orientation information, and destination position information (location information of the second work point P2), that the destination (second work point P2) is located ahead of the work vehicle WV3.

[0037] Furthermore, if the loading and unloading of the work vehicle WV2 is completed at the second work site P2, the relay site P3 is selected as the next destination. In this case, the determination unit 22 determines, based on the vehicle position information, the vehicle orientation information, and the destination position information (the position information of the relay site P3), that the destination (relay site P3) is located behind the work vehicle WV2.

[0038] Furthermore, as shown in Figure 4, when moving from the second work point P2 to the relay point P3, the first work point P1 is selected as the next destination. In this case, the determination unit 22 determines, based on the vehicle position information, vehicle orientation information, and destination position information (location information of the first work point P1), that the destination (first work point P1) is located ahead of the work vehicle WV3.

[0039] (Vehicle Control Unit) The vehicle control unit 24 shown in Figure 2 controls the drive system 30, braking system 40, and steering system 50 of the work vehicle WV to automatically drive the work vehicle WV. When automatically driving the work vehicle WV, the vehicle control unit 24 makes the work vehicle WV travel along the path generated by the path generation unit 23. If the determination unit 22 determines that the destination is located behind the work vehicle WV, the vehicle control unit 24 controls the transmission of the drive system 30, etc., to control the work vehicle WV to move in reverse (see the white arrow in Figure 4). On the other hand, if the determination unit 22 determines that the destination is located in front of the work vehicle WV, the vehicle control unit 24 controls the transmission of the drive system 30, etc., to control the work vehicle WV to move forward (see the black arrow in Figure 4).

[0040] (Path generation unit) The route generation unit 23 generates a route to the destination based on the vehicle position information and the destination position information. The route generation unit 23 also generates a route such that the orientation of the work vehicle WV at the destination matches the set orientation information corresponding to the destination. If the determination unit 22 determines that the destination is located behind the work vehicle WV, the route generation unit 23 generates a route that causes the work vehicle WV to move in reverse. On the other hand, if the determination unit 22 determines that the destination is located in front of the work vehicle WV, the route generation unit 23 generates a route that causes the work vehicle WV to move forward. For example, the route generation unit 23 may generate a route from the current position of the work vehicle WV to the destination PD on a map that is stored in advance. Note that BIM (Building Information Modeling) or CIM (Construction Information Modeling) of a construction site may be used as the map. Alternatively, aerial photographs or point cloud information acquired by a drone may be used instead of a map.

[0041] As shown in Figure 5, when the route generation unit 23 generates a route toward the destination PD, it is preferable to create a virtual wall VW1 on the side (one side in the width direction) of the work vehicle WV and generate a route R that does not involve contact between the work vehicle WV and the virtual wall VW1. For example, as shown in Figure 5, if the shortest route RX (shortest route RX shown by the dashed line) is generated by connecting the current position of the work vehicle WV (vehicle position information) and the destination PD (destination position information) in a straight line, a sharp steering angle will occur, which may prevent stable driving. In this embodiment, the route generation unit 23 generates a route R that does not involve contact between the work vehicle WV and the side virtual wall VW1, so a route R with a relatively gentle steering angle is generated. This enables stable driving of the work vehicle WV. The size and shape of the work vehicle WV are stored in advance.

[0042] Note that in Figure 5, the virtual wall VW1 is given thickness for clarity, but it does not need to be thick. Also, in Figure 5, the virtual wall VW1 is provided on both sides in the width direction of the work vehicle WV, but this is not the only option; the virtual wall VW1 may be provided only on the side closer to the destination PD.

[0043] As shown in Figure 5, it is preferable that the virtual wall VW1 includes a virtual curved wall VW1a that curves outward in the width direction at the end on the side of the work vehicle WV that is in the direction of travel (the rear side in Figure 5). The virtual curved wall VW1a curves outward in the width direction so as to bulge out in the direction of travel. The radius of the virtual curved wall VW1a is set to be larger than the inner minimum turning radius r of the work vehicle WV shown in Figure 6. This allows the path generation unit 23 to reliably generate a path R that results in a relatively gentle steering angle.

[0044] Furthermore, as shown in Figure 5, when the route generation unit 23 generates a route toward the destination PD, it is preferable to provide a virtual wall VW2 on the opposite side (front side in the figure) from the direction of travel of the work vehicle WV, in addition to the virtual wall VW1, and generate a route R in which the work vehicle WV does not come into contact with the virtual walls VW1 and VW2. This reliably prevents the generation of a route on the opposite side from the direction of travel of the work vehicle WV.

[0045] Furthermore, the path generation unit 23 of this embodiment generates a path R that avoids contact between the work vehicle WV and obstacles detected by the obstacle detection unit 60, based on the information detected by the obstacle detection unit 60 (3D point cloud data in this embodiment). In other words, the path generation unit 23 of this embodiment generates a path R that avoids contact between the work vehicle WV and obstacles detected by the obstacle detection unit 60, as well as virtual walls VW1 and VW2.

[0046] Furthermore, as shown in Figure 5, when the route generation unit 23 generates a route R leading to the destination PD, it may provide a virtual wall VW3 (shown by a dashed line) to the side of a virtual work vehicle (not shown) at the destination PD. The virtual wall VW3 can be set based on the setting orientation information, vehicle size, and shape corresponding to the destination PD. The route generation unit 23 generates a route R in which the work vehicle WV does not come into contact with the virtual wall VW3. As a result, the route generation unit 23 can generate a route such that the orientation of the work vehicle WV at the destination matches the setting orientation information corresponding to the destination.

[0047] Figure 5 illustrates an example of the case where the work vehicle WV is moving in reverse. Similarly, when the work vehicle WV is moving forward, a virtual wall VW1 is provided to the side of the work vehicle WV, and a path R is generated that does not come into contact with the virtual wall VW1. Furthermore, when the work vehicle WV is moving forward, it is preferable that the virtual wall VW1 includes a virtual curved wall VW1a that curves outward in the width direction at the front end of the virtual wall VW1. Also, when the work vehicle WV is moving forward, it is preferable that the path generation unit 23 provides a virtual wall VW2 to the rear of the work vehicle WV in addition to the virtual wall VW1, and generates a path R that does not come into contact with the virtual walls VW1 and VW2.

[0048] As a result, for example, when a work vehicle WV moves from a first work point P1 to an intermediate point P3, the route generation unit 23 selects intermediate point P3 as the next destination at the first work point P1, sets up a virtual wall VW1 at the first work point P1, and generates a route R to intermediate point P3. The work vehicle WV is controlled by the vehicle control unit 24 and moves in reverse to pass behind the virtual wall VW1 towards intermediate point P3. As described above, when the route generation unit 23 generates the route R, it may also set up a virtual wall VW2 at the first work point P1 in addition to the virtual wall VW1, or a virtual wall VW3 to the side of the virtual work vehicle at intermediate point P3.

[0049] (Work vehicle control processing) Next, the work vehicle control process performed by the work vehicle control device 10 will be explained based on Figure 7. Figure 7 is a flowchart of the work vehicle control process.

[0050] As shown in Figure 7, in the work vehicle control process, first, the work vehicle control device 10 stores location information and set orientation information for each location of multiple locations that can be destinations for the work vehicle WV in the location storage unit 21 (step S1). Next, the work vehicle control device 10 acquires vehicle location information and vehicle orientation information (step S2). Next, the determination unit 22 determines whether or not the destination is located behind the work vehicle WV (step S3). Next, the route generation unit 23 generates a route to the destination, and the vehicle control unit 24 drives the work vehicle WV along the generated route (step S4). Next, the work vehicle control device 10 determines whether or not the work vehicle WV has arrived at the destination based on the vehicle location information (step S5). If the work vehicle control device 10 determines that the work vehicle WV has not yet arrived at the destination (step S5: NO), it proceeds to step S2. Then, steps S2 to S5 are repeatedly executed until the work vehicle WV arrives at its destination, generating a route to the destination based on the vehicle's position information, and driving the work vehicle WV along the generated route. Meanwhile, the work vehicle control device 10 terminates this process when it determines that the work vehicle WV has arrived at its destination (step S5: YES). The timing of the destination arrival determination in step S5 is set to an appropriate timing (at predetermined distance intervals or predetermined time intervals) calculated through experiments or simulations.

[0051] In the work vehicle control device 10 configured as described above, the determination unit 22 determines whether the destination is located behind the work vehicle WV, and the vehicle control unit 24 moves the work vehicle WV forward or backward based on the determination result. In other words, the direction of travel (forward or backward) of the work vehicle WV can be automatically determined according to the position, orientation, and location of the work vehicle WV. For this reason, for example, if you want the work vehicle WV to move backward in the section from the first work point P1 to the intermediate point P3, and forward in the section from the intermediate point P3 to the second work point P2, it is not necessary to set the direction of travel (forward or backward) of the work vehicle WV in each section on the system, and complex setting work is not required.

[0052] Thus, according to this embodiment, it is possible to provide a work vehicle control device 10 that can automatically operate a work vehicle WV with simple settings.

[0053] Furthermore, when the route generation unit 23 generates a route toward the destination, it is preferable to provide a virtual wall VW1 to the side of the work vehicle WV and generate a route R that does not involve contact between the work vehicle WV and the virtual wall VW1. This allows for the generation of a route R with a relatively gentle steering angle, thereby enabling stable driving of the work vehicle WV.

[0054] Furthermore, it is preferable that the virtual wall VW1 includes a virtual curved wall VW1a that curves outward in the width direction at the end of the work vehicle WV on the side facing the direction of travel, and that the radius of the virtual curved wall VW1a is set to be larger than the inner minimum turning radius r of the work vehicle WV. This allows the path generation unit 23 to reliably generate a path R that results in steering at a relatively gentle angle.

[0055] Although the present invention has been described above based on the above embodiments, the present invention is not limited to the contents of the above embodiments, and can naturally be modified as appropriate without departing from the present invention. In other words, all other embodiments, examples, and operational techniques made by those skilled in the art based on these embodiments are of course included in the scope of the present invention. [Explanation of Symbols]

[0056] 10: Work vehicle control device 11: Vehicle location information acquisition unit (vehicle location information acquisition means) 12: Vehicle orientation information acquisition unit (vehicle orientation information acquisition means) 22: Judgment unit (judgment means) 23: Route generation unit (route generation means) 24: Vehicle control unit (vehicle control means) WV: Work Vehicle VW1: Virtual Wall VW1a: Virtual Curved Wall

Claims

1. A work vehicle control device that automatically drives a work vehicle to a set destination, A means for acquiring vehicle location information related to the position of the aforementioned work vehicle, A means for acquiring vehicle orientation information relating to the orientation of the work vehicle, A determination means that determines whether the destination is located behind the work vehicle based on the vehicle position information acquired by the vehicle position information acquisition means, the vehicle orientation information acquired by the vehicle orientation information acquisition means, and the destination location information which is the location information of the destination, The vehicle includes a vehicle control means that controls the work vehicle to move in reverse if the determination means determines that the destination is located behind the work vehicle, and controls the work vehicle to move forward if the determination means determines that the destination is located in front of the work vehicle. A work vehicle control device characterized by the following features.

2. The system includes a route generation means that generates a route to the destination based on the vehicle location information and the destination location information, The route generation means provides a virtual wall to the side of the work vehicle and generates a route that does not cause the work vehicle to come into contact with the virtual wall. The work vehicle control device according to feature 1.

3. The virtual wall includes a virtual curved wall that curves outward in the width direction at the end on the side of the direction of travel of the work vehicle, The radius of the virtual curved wall is set to be larger than the minimum inner turning radius of the work vehicle. The work vehicle control device according to feature 2.

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