Automated driving method, automated driving program, and automated driving system

Abstract

This invention provides an automated driving method, an automated driving program, and an automated driving system that can improve the accuracy of the driving position of a towed machine while a work vehicle is automatically driving. [Solution] In the automatic driving system 1, the driving processing unit 111 automatically drives a work vehicle 10 which is equipped with a tractor and a work implement 30 that is swingably connected to the tractor. The driving processing unit 111 automatically drives the work vehicle 10 based on positioning information measured by the work implement antenna 164B provided on the work implement 30.

Description

Technical Field

[0001] The present invention relates to a technique for automatically driving a work vehicle that pulls a towed machine such as a work implement or a trailer.

Background Art

[0002] Conventionally, in a field, a technique for automatically driving a work vehicle based on position information measured by a positioning antenna (for example, a GPS antenna) mounted on the work vehicle is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, when a work vehicle includes a towed machine that is swingably connected to a towing vehicle (tractor) via a hitch point, such as a work implement or a trailer, it has been difficult to automatically drive the towing vehicle while aligning the towed machine with a target path.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system capable of improving the running position accuracy of a towed machine towed while the towing vehicle automatically runs.

Means for Solving the Problems

[0006] The automatic driving method according to the present invention is a method for automatically driving a work vehicle including a towing vehicle and a towed machine that is swingably connected to the towing vehicle. The automatic driving method automatically drives the work vehicle based on first positioning information measured by a first positioning device provided on the towed machine.

[0007] The automatic driving program according to the present invention is a program for automatically driving a work vehicle comprising a towing vehicle and a towed machine that is swingably connected to the towing vehicle. In the automatic driving program, one or more processors automatically drive the work vehicle based on first positioning information measured by a first positioning device provided on the towed machine.

[0008] The automatic driving system according to the present invention is a system for automatically driving a work vehicle comprising a towing vehicle and a towed machine that is swingably connected to the towing vehicle. The automatic driving system automatically drives the work vehicle based on first positioning information measured by a first positioning device provided on the towed machine. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an automated driving method, an automated driving program, and an automated driving system that can improve the accuracy of the driving position of a towed machine being towed by a work vehicle while it is automatically driving. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram showing the configuration of an automated driving system according to an embodiment of the present invention. [Figure 2] Figure 2 is an external view showing the configuration of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a target path set in a field according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of the position of a positioning antenna set on a work vehicle according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of a driving method for a work vehicle according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of a driving method for a work vehicle according to an embodiment of the present invention. [Figure 7]Figure 7 shows an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 8] Figure 8 shows an example of a work machine setting screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 9] Figure 9 shows an example of a work machine setting screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 10] Figure 10 is a flowchart showing an example of the procedure for an automated driving process performed by an automated driving system according to an embodiment of the present invention. [Figure 11] Figure 11 shows an example of a work machine setting screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 12] Figure 12 shows an example of a driving method for a work vehicle according to an embodiment of the present invention. [Figure 13A] Figure 13A shows another example of a work machine setting screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 13B] Figure 13B is a reference diagram illustrating the antenna setup method shown in Figure 13A. [Figure 14A] Figure 14A shows another example of a work machine setting screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 14B] Figure 14B is a reference diagram illustrating the antenna setup method shown in Figure 14A. [Modes for carrying out the invention]

[0011] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0012] As shown in FIG. 1, an automatic 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 via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. The automatic driving system 1 is an example of the automatic driving system of the present invention.

[0013] The work vehicle 10 includes a tractor 10A and a work implement 30 that is swingably connected to the tractor 10A and is towed by the tractor 10A. The tractor 10A is an example of the towing vehicle of the present invention. The work implement 30 is, for example, a vegetable harvester and is an example of the towed target machine of the present invention. The towed target machine of the present invention may be a trailer. The work vehicle 10 is configured to be able to automatically travel along a preset target path R in a field F (see FIG. 3).

[0014] For example, the operator registers the field F to be worked and sets a target path R for automatically driving the work vehicle 10 in the field F. The work vehicle 10 automatically travels along the preset target path R in the field F based on the position information of the current position of the work vehicle 10 acquired by the positioning unit 16. Also, while automatically traveling in the field F, the work vehicle 10 performs a predetermined operation (for example, a vegetable harvesting operation) by the work implement 30.

[0015] The operation terminal 20 is a portable terminal capable of remotely operating the work vehicle 10 and is composed of, for example, a tablet terminal, a notebook personal computer, a smartphone, etc. The operator can perform setting operations on various setting items on the operation terminal 20. For example, the operator operates the operation terminal 20 to register the field F or set the target path R for the registered field F. Also, the operation terminal 20 can display information such as the working status and traveling status of the work vehicle 10 during automatic driving, and the operator can grasp the working status and traveling status on the operation terminal 20.

[0016] Conventionally, when a work vehicle 10 is equipped with a work implement 30 that is pivotably connected to a tractor 10A via a hitch point, it has been difficult to automatically drive the tractor 10A while aligning the work implement 30 with a target path R. For example, when the tractor 10A is driven in a turning motion along the target path R, the work implement 30 rotates at the hitch point and travels in a position different from the tractor 10A's travel position, making it difficult to drive the work implement 30 as intended by the operator, resulting in a problem of reduced accuracy in the work implement 30's travel position. In contrast, the automatic driving system 1 according to this embodiment has a configuration that can improve the accuracy of the travel position of the work implement 30 (towed machine) while the tractor 10A (towing vehicle) is automatically driving, as shown below.

[0017] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a travel device 13, a work implement 30, a communication unit 15, a positioning unit 16, and the like. The work vehicle 10 is also composed of a tractor 10A and a work implement 30 that is pivotably (rotatably) connected to the tractor 10A. The vehicle control device 11 is electrically connected to the memory unit 12, the travel device 13, the work implement 30, and the positioning unit 16, etc. The vehicle control device 11 and the positioning unit 16 may be wirelessly connected.

[0018] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wireless connection and performs data communication with external devices (such as the operation terminal 20) via the communication network N1 in accordance with a predetermined communication protocol.

[0019] 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 that causes the vehicle control device 11 to execute the automatic driving process described later (see Figure 10). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Alternatively, the automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 also stores target route data generated by the operation terminal 20.

[0020] The running gear 13 is the drive unit that propels the tractor 10A. As shown in Figure 2, the running gear 13 includes an engine 131, front wheels 132, rear wheels 133, transmission 134, front axle 135, rear axle 136, steering wheel 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the tractor 10A, respectively. Furthermore, the running gear 13 is not limited to a wheel type with front wheels 132 and rear wheels 133, but may also be a crawler type with crawlers provided on the left and right sides of the tractor 10A.

[0021] The engine 131 is a power source such as a diesel engine or gasoline engine that is driven using fuel supplied to a fuel tank (not shown). The running gear 13 may be equipped with an electric motor as a power source together with the engine 131, or in place of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and positioning unit 16, as well as the battery, which are installed on the tractor 10A. The battery is charged by the power supplied from the generator. The electrical components such as the vehicle control device 11 and positioning unit 16 installed on the tractor 10A can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0022] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and front axle 135, and to the rear wheels 133 via the transmission 134 and rear axle 136. The driving force of the engine 131 is also transmitted to the implement 30 via the PTO shaft (not shown). When the tractor 10A is driving automatically, the running gear 13 performs driving operations according to the commands of the vehicle control device 11. The running gear 13 also slows down or stops the tractor 10A according to the commands of the vehicle control device 11.

[0023] The implement 30 is, for example, a vegetable harvester, and is detachably and pivotably connected to the tractor 10A. Specifically, the implement 30 is connected to the tractor 10A via a hitch point 31 (rotating shaft, joint), and its posture (angle d1 shown in Figure 5) changes relative to the tractor 10A with the hitch point 31 as the pivot point. The implement 30 also has wheels 32 on the left and right sides and moves in accordance with the movement of the tractor 10A. The implement 30 starts or stops driving according to the command of the vehicle control device 11. The vehicle control device 11 may also automatically steer the wheels 32 in accordance with the steering of the tractor 10A.

[0024] The steering wheel 137 is an operating part that is operated by an operator or a vehicle control device 11. For example, in the running gear 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 137 by the vehicle control device 11, and the direction of travel of the tractor 10A is changed.

[0025] In addition to the steering wheel 137, the running gear 13 is equipped with a shift lever (not shown), accelerator, brakes, etc., which are operated by the vehicle control device 11. In the running gear 13, the gears of the transmission 134 are switched to forward gear or reverse gear, etc., in response to the operation of the shift lever by the vehicle control device 11, and the driving mode of the tractor 10A is switched to forward or reverse. The vehicle control device 11 also controls the rotational speed of the engine 131 by operating the accelerator. The vehicle control device 11 also operates the brakes to brake the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes.

[0026] The positioning unit 16 is a communication device comprising a positioning control unit 161, a memory unit 162, a communication unit 163, a vehicle antenna 164A, and a work equipment antenna 164B. For example, as shown in Figure 2, the positioning unit 16 is installed on top of the cabin 138 where the operator sits. However, the installation location of the positioning unit 16 is not limited to the cabin 138. Furthermore, the positioning control unit 161, memory unit 162, communication unit 163, vehicle antenna 164A, and work equipment antenna 164B of the positioning unit 16 may be distributed and arranged in different locations on the work vehicle 10. For example, the vehicle antenna 164A may be located on the tractor 10A, and the work equipment antenna 164B may be located on the work equipment 30 (see Figure 2). As mentioned above, the battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. Furthermore, the positioning unit 16 may be substituted with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0027] The positioning control unit 161 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores data such as a program for causing the positioning control unit 161 to perform 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, read by a predetermined reading device (not shown), and stored in the storage unit 162. Alternatively, the program may be downloaded from a server (not shown) to the positioning unit 16 via a communication network N1 and stored in the storage unit 162.

[0028] The communication unit 163 is a communication interface for connecting the positioning unit 16 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as base station servers via the communication network N1 in accordance with a predetermined communication protocol.

[0029] The vehicle antenna 164A and the work equipment antenna 164B are antennas that receive radio waves (GNSS signals) transmitted from satellites.

[0030] The positioning control unit 161 calculates the current position of the tractor 10A based on the GNSS signals received from satellites by the vehicle antenna 164A. The positioning control unit 161 also calculates the current position of the implement 30 based on the GNSS signals received from satellites by the implement antenna 164B.

[0031] For example, when tractor 10A is automatically driving within field F, if the vehicle antenna 164A receives radio waves (transmission time, orbital information, etc.) transmitted from multiple satellites, the positioning control unit 161 calculates the distance between the vehicle antenna 164A and each satellite, and calculates the current position (latitude and longitude) of tractor 10A based on the calculated distance. Alternatively, the positioning control unit 161 may perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) by using correction information corresponding to a base station (reference station) close to tractor 10A to calculate the current position of tractor 10A. In this way, tractor 10A performs automatic driving using positioning information obtained by the RTK method. The current position (control target point) of tractor 10A may be the same position as the positioning position (for example, the position of vehicle antenna 164A), or it may be a position shifted from the positioning position.

[0032] For example, when the tractor 10A is automatically driving within field F, the implement antenna 164B receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 161 then calculates the distance between the implement antenna 164B and each satellite, and calculates the current position (latitude and longitude) of the implement 30 based on the calculated distance. Alternatively, the positioning control unit 161 may perform RTK positioning, which calculates the current position of the implement 30 using correction information corresponding to a base station (reference station) close to the implement 30. The current position (control target point) of the implement 30 may be the same position as the positioning position (for example, the position of the implement antenna 164B), or it may be a position shifted from the positioning position.

[0033] Figure 4 shows the placement positions of the vehicle antenna 164A, which is installed on the tractor 10A, and the implement antenna 164B, which is installed on the implement 30. For example, the implement antenna 164B is positioned on the axis of the left and right wheels 32 of the implement 30 and at the left and right center of the implement 30. However, the placement position of the implement antenna 164B is not limited to this and can be placed at any position.

[0034] The positioning control unit 161 may also use a quantum compass to calculate (position) the current positions of the tractor 10A and the implement 30.

[0035] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile storage unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as temporary storage memory for various processes performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing various control programs that are pre-stored in the ROM or storage unit 12 using the CPU.

[0036] Specifically, as shown in Figure 1, the vehicle control device 11 includes processing units such as the driving processing unit 111. The vehicle control device 11 functions as various processing units by executing various processes according to the automatic driving program using the CPU. Some or all of the processing units may be composed of electronic circuits. The automatic driving program may be a program that causes multiple processors to function as processing units.

[0037] The driving processing unit 111 controls the movement of the work vehicle 10. For example, when the driving mode of the work vehicle 10 is manual driving (manual driving mode), it is possible to manually drive the work vehicle 10 based on the operator's operation (manual steering). For example, the driving processing unit 111 acquires operation information corresponding to driving operations by the operator, such as steering, shifting gears, changing direction of travel, and braking, and causes the driving device 13 to execute a driving operation based on said operation information. For example, when the operator registers the field F to be worked on, the operator manually drives (teaching drive) the outer perimeter of the area to be worked on within a predetermined area while riding the tractor 10A.

[0038] Furthermore, when the work vehicle 10 is in automatic driving mode, the driving processing unit 111 automatically drives the work vehicle 10 based on position information (positioning information) indicating the current position of the work vehicle 10, which is determined by the positioning unit 16. For example, when the work vehicle 10 meets the conditions for starting automatic driving and the driving processing unit 111 receives a work start instruction (automatic driving start instruction) from the operator, it starts the automatic driving of the work vehicle 10 based on the positioning information. The driving processing unit 111 also automatically drives the work vehicle 10 from the starting position (work start position S) to the ending position (work ending position G) according to a target route R that has been generated and set in advance on the operation terminal 20. For example, the driving processing unit 111 automatically drives the work vehicle 10 in a straight line according to a straight line route, and automatically drives the work vehicle 10 in a turning line according to a turning line. Furthermore, the driving processing unit 111 automatically drives the work vehicle 10 according to a plurality of work routes included in the target route R, which cause the work vehicle 10 to perform predetermined tasks, and a plurality of non-work routes connecting the work routes.

[0039] For example, in field F shown in Figure 3, the driving unit 111 automatically drives the work machine 30 through the inner work area F1 according to the target path R (work path) while performing work (vegetable harvesting). The driving unit 111 also automatically drives the non-work area F2 (headland area) outside the work area F1 according to the target path R (non-work path). The driving unit 111 automatically drives the work vehicle 10 from the work start position S to the work end position G.

[0040] Here, the driving processing unit 111 automatically drives the work vehicle 10 based on work equipment positioning information (an example of the first positioning information of the present invention) measured by the work equipment antenna 164B provided on the work equipment 30. Figure 5 shows an example of a target path R. For example, the driving processing unit 111 controls the driving position of the tractor 10A so that the work equipment 30 passes along the target path R. For example, the driving processing unit 111 controls the driving of the tractor 10A so that the position (positioning position) of the work equipment antenna 164B of the work equipment 30 passes along the target path R. In another embodiment, the driving processing unit 111 may control the driving of the tractor 10A so that a position (control target point) located a predetermined distance from the position of the work equipment antenna 164B of the work equipment 30 passes along the target path R. For example, the control target point may be set at the front end or rear end of the work equipment 30, or at a working position within the work equipment 30 (for example, the position of the harvesting section for harvesting vegetables) (see Figure 12 described later).

[0041] Specifically, the driving processing unit 111 estimates the attitude of the implement 30 relative to the tractor 10A based on the positioning information (implementation equipment side information) from the implement antenna 164B, and automatically drives the work vehicle 10 based on the estimated attitude of the implement 30. In addition, the driving processing unit 111 estimates the attitude of the implement 30 based on the implement positioning information from the implement antenna 164B and the vehicle positioning information (an example of the second positioning information of the present invention) measured by the vehicle antenna 164A.

[0042] For example, the driving processing unit 111 estimates the amount of change in the attitude of the implement 30 from the current driving state of the tractor 10A based on the implement positioning information and the vehicle positioning information, and controls the driving direction of the tractor 10A based on the estimated amount of change. For example, the driving processing unit 111 acquires information on the direction of movement of the implement 30 (change in implement positioning information) when the tractor 10A actually moves in a predetermined direction, and feeds back this information to estimate (predict) the direction of movement of the implement 30 (amount of change in attitude) for the next direction in which the tractor 10A will move. Based on the amount of change in the direction of movement (attitude) of the implement 30, the driving processing unit 111 controls the driving direction of the tractor 10A so that the implement 30 follows the target path R.

[0043] Furthermore, the travel processing unit 111 controls the orientation (travel direction) of the tractor 10A so that the amount of change is less than a threshold. In this way, the travel processing unit 111 feeds back information on the change in the posture of the implement 30 according to the current travel state of the tractor 10A and controls the travel direction of the tractor 10A so that the implement 30 travels to the target position.

[0044] Here, if the amount of change becomes large, the behavior of the implement 30 may become unstable, such as the wheels 32 of the implement 30 slipping (spinning) or skidding sideways. Therefore, if the amount of change exceeds a threshold, the driving processing unit 111 causes the tractor 10A to perform a predetermined corrective action. The corrective action includes a process to decelerate or stop the tractor 10A, or a process to move the tractor 10A forward, backward, or turn in order to correct the posture of the implement 30 (corrective action: retry operation). For example, if the amount of change exceeds a threshold, the driving processing unit 111 ensures safety by decelerating or stopping the tractor 10A.

[0045] Furthermore, if the amount of change is greater than or equal to a threshold, the travel processing unit 111 performs a retry operation to move the tractor 10A forward, backward, or turn so that the amount of change falls below the threshold. For example, the travel processing unit 111 acquires information in advance about the behavior of the implement 30 for each of the tractor 10A's forward, backward, and turning movements, and uses this information as feedback to perform a retry operation and correct the posture of the implement 30.

[0046] The travel processing unit 111 may compare the estimated position of the implement 30 (positioning position) with the actual position where the implement 30 has passed, and control the travel direction of the tractor 10A or perform corrective processing. Furthermore, the corrective processing may include notification processing to inform the operator that the amount of change has exceeded a threshold.

[0047] Furthermore, the travel processing unit 111 causes the tractor 10A to perform avoidance processing to prevent the implement 30 from contacting the edge of field F or flying out of the field when the distance La from the end of the implement 30, which is determined based on the implement positioning information of the implement 30, to the edge of field F (field outline) falls below a predetermined distance. For example, as shown in Figure 6, when the tractor 10A turns to the right near the edge of field F, the left rear end of the implement 30 may approach the edge of field F. If the implement 30 approaches the edge of field F or flies out of the field, there is a risk of contact with an obstacle (such as a ridge). Therefore, when the distance La from the end of the implement 30 to the edge of field F falls below a predetermined distance, the travel processing unit 111 causes the tractor 10A to perform avoidance processing such as deceleration, stopping, or retrying. This ensures safety at the edge of field F.

[0048] Furthermore, the travel processing unit 111 determines whether the distance La is less than a predetermined distance by determining the position of the end (outer shape) of the implement 30 based on the position of the implement antenna 164B on the implement 30. In this way, by positioning the implement antenna 164B on the implement 30, the position and orientation of the implement 30 relative to the tractor 10A can be accurately determined, and the distance La can be accurately calculated. Therefore, it becomes possible to perform appropriate avoidance processing and prevent unnecessary avoidance processing from being performed. In another embodiment, the travel processing unit 111 may determine whether the distance La is less than a predetermined distance based on the detection results of a camera, obstacle sensor, etc., mounted on the tractor 10A.

[0049] As described above, the work vehicle 10 controls the movement (direction of travel and vehicle speed) of the tractor 10A so that the implement 30 follows the target path R, while estimating the attitude of the implement 30, based on the vehicle positioning information measured by the vehicle antenna 164A located on the tractor 10A and the implement positioning information measured by the implement antenna 164B located on the implement 30.

[0050] Furthermore, if the implement 30 is connected to the tractor 10A with an offset in the left-right direction, the travel processing unit 111 may calculate the difference between a preset offset amount and the offset amount during travel, and adjust the offset amount of the implement 30 so that the difference decreases. The calculated difference may also be communicated to the operator.

[0051] [Operating terminal 20] As shown in Figure 1, the operating terminal 20 is an information processing device comprising an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24, etc. The operating terminal 20 may be composed of a mobile device such as a tablet or a smartphone.

[0052] The communication unit 24 is a communication interface for connecting the operating terminal 20 to the communication network N1 by wire or wireless connection and for performing data communication with one or more external devices such as work vehicles 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0053] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can register various information (such as work vehicle information, field information, and work information described later) by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue work start instructions and driving stop instructions to the work vehicle 10 by operating the operation unit. Furthermore, the operator can understand the driving status of the work vehicle 10, which is automatically driving within the field F according to the target route R, from a location away from the work vehicle 10 by looking at the driving trajectory displayed on the operation terminal 20 and the images captured by the camera.

[0054] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores a control program that causes the operation control unit 21 to execute various control processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 22. Alternatively, the control program may be downloaded from a server (not shown) to the operation terminal 20 via a communication network N1 and stored in the storage unit 22.

[0055] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or memory unit 22 using the CPU.

[0056] As shown in Figure 1, the operation control unit 21 includes various processing units such as a setting processing unit 211, a generation processing unit 212, and an output processing unit 213. The operation control unit 21 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0057] The setting processing unit 211 sets and registers various setting information for enabling the work vehicle 10 to perform automatic driving. Specifically, the setting processing unit 211 registers information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 registers information such as the type (model) of the work vehicle 10, the location where the antennas (vehicle antenna 164A and work machine antenna 164B) are attached to the work vehicle 10, the type of work machine 30, the size and shape of the work machine 30, the position of the work machine 30 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 during turning, by having the operator perform an operation to register this information on the operation terminal 20.

[0058] For example, the setting processing unit 211 displays the menu screen D1 shown in Figure 7 on the operation display unit 23. The operator selects "Register Implement" on the menu screen D1 to register implement information for implement 30. For example, when the operator selects "Register Implement," the setting processing unit 211 displays the implement setting screen D2 shown in Figure 8. On the implement setting screen D2, the operator can set the positions of the vehicle antenna 164A and the implement antenna 164B, and the external dimensions of the implement 30. For example, if the operator specifies (tap) the position of the implement antenna 164B attached to the implement 30 on the implement setting screen D2, the setting processing unit 211 sets the specified position as the position of the implement antenna 164B. Also, if the operator specifies (tap) the position of the vehicle antenna 164A attached to the tractor 10A, the setting processing unit 211 sets the specified position as the position of the vehicle antenna 164A. The operator can attach each antenna to any position and register that position.

[0059] The setting processing unit 211 may also display the initial positions of the vehicle antenna 164A and the implement antenna 164B on the implement setting screen D2. For example, the setting processing unit 211 may display the positions of the left and right wheels 32 of the implement 30 on their axes, the front end position of the implement 30, or the working position on the implement 30 (for example, the position of the harvesting section for harvesting vegetables) as the initial position of the implement antenna 164B. In this case, the operator may change the setting position of the implement antenna 164B.

[0060] In another embodiment, as shown in Figure 9, the setting processing unit 211 may be able to select the position of the implement antenna 164B from multiple options (such as "front end of the implement", "work position (position of the harvesting unit)", "center of the wheel").

[0061] In addition, the operator inputs the distance between the vehicle antenna 164A and the hitch point 31, the distance between the vehicle antenna 164A and the front end of the implement 30, the distance between the implement antenna 164B and the front end of the implement 30, the distance between the implement antenna 164B and the rear end of the implement 30, the distance between the implement antenna 164B and the wheel 32, and the external dimensions of the tractor 10A and the implement 30 on the implement setting screen D2.

[0062] The external dimensions of the implement 30 may be entered via screen input using a keypad displayed on the screen, via voice input by the operator, or by reading them using the setting read function. The setting read function may also be a function that sets information about the implement 30 by communicating between the implement 30 and the main machine (tractor 10A) using ISO BUS or the like. For example, the implement 30 transmits external dimensions, position information of the implement antenna 164B, steering angle information, etc., to the tractor 10A, and the tractor 10A acquires this information and sets it automatically. The setting read function may also be a function that reads existing setting values ​​when the implement 30 is selected in "Implement Registration".

[0063] Furthermore, the setting processing unit 211 registers information related to field F (hereinafter referred to as field information). The setting processing unit 211 registers information such as the location and shape of field F, the work start position S where work begins, the work end position G where work ends, and the work direction by performing a registration operation on the operation terminal 20. The work direction refers to the direction in which the work vehicle 10 is driven while working with the implement 30 in the work area excluding the non-work area from field F. For example, the worker registers the field information by selecting "Field Registration" on the menu screen D1.

[0064] Information on the location and shape of field F can be automatically acquired, for example, by having an operator ride in the work vehicle 10 and drive it in a circle along the outer perimeter of a predetermined area (see Figure 3), and recording the changes in the position information of the vehicle antenna 164A during that time. Specifically, the setting processing unit 211 acquires the position information of the current position of the work vehicle 10 based on the positioning information measured by the positioning unit 16. Once the setting processing unit 211 acquires the position information, it registers it in the storage unit 22.

[0065] Furthermore, the setting processing unit 211 registers information regarding how the work will be performed in detail (hereinafter referred to as work information). The setting processing unit 211 is configured to register work information such as whether or not there is coordinated work between the unmanned work vehicle 10 and the manned work vehicle 10, the number of skips which is the number of work paths to be skipped when the work vehicle 10 turns at a headland, the width of the headland, and the width of the non-work area. For example, the operator registers the travel path information by selecting "Work Registration" on the menu screen D1.

[0066] The generation processing unit 212 generates a target route R for the work vehicle 10 to travel automatically in field F. When the operator selects "Create Route" on menu screen D1 and receives an instruction to generate a target route R, the generation processing unit 212 executes the process of generating the target route R. Specifically, the generation processing unit 212 generates a route as the target route R that passes through the location of the work object (for example, the location where the harvested crop is planted). In other words, the generation processing unit 212 generates a route as the target route R that allows the implement 30 to pass so that it can perform work (for example, harvesting). In this embodiment, since the tractor 10A and the implement 30 are connected in a way that allows their postures to change relative to each other, as shown in Figure 5, the travel position of the tractor 10A and the travel position of the implement 30 do not necessarily coincide. For this reason, the generation processing unit 212 generates a target route R that allows the implement 30, which will actually perform the work (harvesting), to travel. Specifically, the generation processing unit 212 generates a target path R (see Figure 3) which includes a target work path for the implement 30 to travel in the work area F1 and a target non-work path (turning path) for moving the implement 30 from the work path to the next work path in the non-work area F2.

[0067] In another embodiment, the generation processing unit 212 may generate a target path R, which is the travel path that the tractor 10A should take to pass the location of the workpiece 30. For example, the generation processing unit 212 simulates the path that the workpiece 30 should take based on the location of the workpiece, estimates the change in the posture of the tractor 10A as the workpiece 30 travels along that path, and generates the path that the tractor 10A should take as the target path R based on the estimation result. In yet another embodiment, the generation processing unit 212 may separately generate a target path corresponding to the travel position of the workpiece 30 and a target path corresponding to the travel position of the tractor 10A.

[0068] When the generation processing unit 212 generates a target route R for the work vehicle 10, it associates the target route R with the field F and registers it. The generation processing unit 212 can generate and register multiple target routes for a single field F, depending on the work content.

[0069] The output processing unit 213 outputs route data for the target route R to the work vehicle 10. For example, when an operator selects the desired target route R on the operation screen and issues a work start command, the output processing unit 213 outputs route data for the selected target route R to the work vehicle 10.

[0070] When the work vehicle 10 receives the route data of the target route R generated in the operation terminal 20, it is stored in the storage unit 12. At the same time, the vehicle antenna 164A and the implement antenna 164B detect the current position and attitude of the tractor 10A and the implement 30, respectively, and control the movement of the tractor 10A so that the implement 30 follows the target route R, thereby performing automatic driving.

[0071] For example, when predetermined starting conditions are met, and the operator presses the "Start Work" button on the operation screen to give a "Start Work" instruction, the work vehicle 10's driving processing unit 111 starts automatic driving and begins work (harvesting) with the implement 30. For example, the automatic driving of the work vehicle 10 is permitted if the tractor 10A's current position is within a set distance from the work start position S and the vehicle's orientation is within a set orientation. However, the starting conditions for permitting the automatic driving of the work vehicle 10 are not limited to the above conditions. The driving processing unit 111 automatically drives the work vehicle 10 from the work start position S to the work end position G according to the target route R obtained from the operation terminal 20.

[0072] The operating terminal 20 may also be able to access a website (agricultural support site) for agricultural support services provided by a server (not shown) via the communication network N1. In this case, the operating terminal 20 can function as an operating terminal for the server by having a browser program executed by the operation control unit 21. The server then comprises the processing units described above and executes each of the processes.

[0073] [Automatic driving process] The following describes an example of the automated driving process performed by the automated driving system 1, with reference to Figure 10.

[0074] Furthermore, the present invention can be understood as an invention of an automated driving method that performs one or more steps included in the automated driving process described herein. In addition, the one or more steps included in the automated driving process described herein may be omitted as appropriate. Also, the execution order of each step in the automated driving process may differ to the extent that similar effects are produced. Furthermore, although the vehicle control device 11 is used as an example to describe the case in which each step in the automated driving process is performed, an automated driving method in which one or more processors distribute and execute each step in the automated driving process can also be considered as another embodiment.

[0075] <Step S1> In step S1, the vehicle control device 11 determines whether or not it has received a work start instruction. If the vehicle control device 11 receives the work start instruction from the operation terminal 20 (S1: Yes), it proceeds to step S2. The vehicle control device 11 waits until it receives the work start instruction (S1: No).

[0076] <Step S2> In step S2, the vehicle control device 11 starts the automatic driving process. Specifically, the vehicle control device 11 causes the work vehicle 10 to start automatic driving according to the target route R (see Figure 3) corresponding to the route data acquired from the operation terminal 20.

[0077] <Step S3> In step S3, the vehicle control device 11 acquires positioning information of the work vehicle 10. Specifically, when the vehicle control device 11 starts automatic driving, it starts acquiring vehicle positioning information measured by the vehicle antenna 164A installed on the tractor 10A and work equipment positioning information measured by the work equipment antenna 164B installed on the work equipment 30. The vehicle control device 11 acquires vehicle positioning information and work equipment positioning information from the vehicle antenna 164A and the work equipment antenna 164B at predetermined intervals.

[0078] <Step S4> In step S4, the vehicle control device 11 controls the movement of the tractor 10A while estimating the posture of the implement 30. Specifically, the vehicle control device 11 estimates the posture of the implement 30 based on the vehicle positioning information and the implement positioning information. For example, the vehicle control device 11 acquires information on the direction of movement of the implement 30 (change in implement positioning information) when the tractor 10A actually moves in a predetermined direction, and feeds this information back to estimate the direction of movement of the implement 30 (amount of change in posture) in relation to the direction in which the tractor 10A will move next. In this way, while the tractor 10A is automatically driven, the vehicle control device 11 acquires (feeds back) the change in posture of the implement 30 being towed by the tractor 10A and estimates the direction of movement of the implement 30 in relation to the direction of travel of the tractor 10A. Then, based on the estimated direction of movement (change in posture) of the implement 30, the vehicle control device 11 controls the direction of travel of the tractor 10A so that the implement 30 follows the target path R. In this way, the vehicle control device 11 controls the movement of the tractor 10A so that the implement 30 passes along the target path R while checking the change in the attitude of the implement 30 during the automatic driving process of the tractor 10A. In addition, the vehicle control device 11 may also control the direction of travel of the tractor 10A and the speed of the tractor 10A.

[0079] For example, in the state shown in Figure 5, if it is estimated that the implement 30 will be displaced inward from the target path R when the tractor 10A is then turned to the right, the vehicle control device 11 moves the tractor 10A in a straight line or to the left so that the implement 30 follows the target path R. In this way, the vehicle control device 11 controls the movement of the tractor 10A while estimating the attitude of the implement 30 based on the vehicle positioning information and the implement positioning information.

[0080] <Step S5> In step S5, the vehicle control device 11 determines whether the change in the posture of the work implement 30 exceeds a threshold. If the vehicle control device 11 determines that the change in the posture of the work implement 30 exceeds a threshold (S5: Yes), it proceeds to step S6. On the other hand, if the vehicle control device 11 determines that the change in the posture of the work implement 30 is less than the threshold (S5: No), it proceeds to step S7.

[0081] <Step S6> In step S6, the vehicle control device 11 causes the tractor 10A to perform a predetermined corrective action. For example, the vehicle control device 11 may perform a process to decelerate or stop the tractor 10A, or a process to move the tractor 10A forward, backward, or turn in order to change the posture of the implement 30 (retry operation).

[0082] For example, if the change in the posture of the implement 30 exceeds a threshold, the vehicle control device 11 causes the tractor 10A to perform a retry operation until the change falls below the threshold. In another embodiment, if the change in the posture of the implement 30 exceeds a threshold, the vehicle control device 11 may first perform a predetermined number of retry operations, and if the change is still above the threshold, it may decelerate or stop the tractor 10A.

[0083] The operator may also pre-set, on the control terminal 20, a corrective action to be performed by the tractor 10A when the change in the posture of the implement 30 exceeds a threshold. The operator may also pre-set the priority order of the aforementioned corrective actions.

[0084] Furthermore, the vehicle control device 11 may switch the handling process according to the amount of change in the posture of the work equipment 30 when the amount of change exceeds a threshold. For example, the vehicle control device 11 may execute a retry operation when the amount of change is low, execute a deceleration process and a retry operation when the amount of change is medium, and execute a stopping process when the amount of change is high.

[0085] <Step S7> In step S7, the vehicle control device 11 determines whether the distance La (see Figure 6) from the end of the implement 30 to the end of the field F (field outline) has fallen below a predetermined distance. If the vehicle control device 11 determines that the distance La has fallen below the predetermined distance (S7: Yes), it proceeds to step S8. On the other hand, if the vehicle control device 11 determines that the distance La is greater than or equal to the predetermined distance (S7: No), it proceeds to step S9.

[0086] <Step S8> In step S8, the vehicle control device 11 causes the tractor 10A to perform a predetermined avoidance process. For example, the vehicle control device 11 may perform a process to decelerate or stop the tractor 10A, or a process to move the tractor 10A forward, backward, or turn in order to change the posture of the implement 30 (retry operation).

[0087] For example, if the distance La falls below a predetermined distance, the vehicle control device 11 may cause the tractor 10A to perform a retry operation until the distance La is equal to or greater than the predetermined distance. In another embodiment, if the distance La falls below a predetermined distance, the vehicle control device 11 may first perform a predetermined number of retry operations, and if the distance La is still below the predetermined distance, it may cause the tractor 10A to decelerate or stop.

[0088] The operator may also pre-set avoidance processing to be executed by the tractor 10A when the distance La falls below a predetermined distance on the control terminal 20. The operator may also pre-set the priority order of the avoidance processing.

[0089] Further, when the distance La becomes less than a predetermined distance, the vehicle control device 11 may switch the avoidance process according to the distance La. For example, when the distance La is not less than the first distance L1 and less than the predetermined distance L0, the vehicle control device 11 causes a retry operation to be executed. When the distance La is not less than the second distance L2 and less than the first distance L1, the vehicle control device 11 causes a deceleration process to be executed. When the distance La is not less than the second distance L2 and less than the first distance L1, the vehicle control device 11 causes a deceleration process and a retry operation to be executed. When the distance La is less than the second distance L2, the vehicle control device 11 causes a stop process to be executed. Note that the above distances satisfy the relationship of 0 < L2 < L1 < L0.

[0090] <Step S9> In step S9, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position G (see FIG. 3). When the vehicle control device 11 determines that the work vehicle 10 has reached the work end position G (S9: Yes), the vehicle control device 11 ends the automatic driving process. When the vehicle control device 11 determines that the work vehicle 10 has not reached the work end position G (S9: No), the vehicle control device 11 shifts the process to step S3. The vehicle control device 11 repeatedly executes the above-described process until the work vehicle 10 reaches the work end position G (S9: No).

[0091] For example, when returning to step S3, the vehicle control device 11 acquires positioning information (vehicle positioning information, work implement positioning information) from each of the vehicle antenna 164A and the work implement antenna 164B. Then, the vehicle control device 11 estimates the attitude of the work implement 30 and controls the travel of the tractor 10A so that the work implement 30 follows the target path R (step S4). When the amount of change in the attitude of the work implement 30 becomes not less than the threshold value, the vehicle control device 11 causes a coping process to be executed (step S6). When the distance La from the work implement 30 to the field edge becomes less than a predetermined distance, the vehicle control device 11 causes an avoidance process to be executed (step S8). The vehicle control device 11 repeatedly executes the processes of steps S3 to S8 until the work vehicle 10 reaches the work end position G.

[0092] As described above, the vehicle control device 11 repeatedly executes the above-described process from the work start position S to the work end position G, and controls the travel of the tractor 10A so that the work implement 30 follows the target path R.

[0093] As described above, the automatic driving system 1 according to this embodiment automatically drives a work vehicle 10 which comprises a tractor 10A (towing vehicle) and a work implement 30 (towing target machine) that is swingably connected to the tractor 10A. Furthermore, the automatic driving system 1 automatically drives the work vehicle 10 based on work implement positioning information measured by a work implement antenna 164B provided on the work implement 30. In this way, by attaching a positioning antenna to the work implement 30 and automatically driving the work vehicle 10 based on the positioning information of the work implement 30, the work implement 30 can be accurately positioned along the target path R. Therefore, the accuracy of the driving position of the work implement 30 towed by the tractor 10A can be improved.

[0094] Furthermore, the automatic driving system 1 estimates the attitude of the implement 30 relative to the tractor 10A based on the implement positioning information, and automatically drives the tractor 10A based on the estimated attitude of the implement 30. For example, the automatic driving system 1 estimates the attitude of the implement 30 based on the implement positioning information and the vehicle positioning information. Then, the automatic driving system 1 controls the direction of travel of the tractor 10A based on the amount of change in the attitude of the implement 30 estimated from the current driving state of the tractor 10A. As a result, the tractor 10A can accurately grasp the change in the attitude (behavior) of the implement 30 according to the driving state, and by controlling the driving of the tractor 10A, the implement 30 can be accurately positioned along the target path R.

[0095] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0096] In another embodiment of the present invention, as shown in Figure 11, the operator may set the position of the work equipment antenna 164B of the work equipment 30 and the control target point P1 for controlling the position of the work equipment 30 on the work equipment setting screen D2. For example, the operator specifies (tap) the position of the work equipment antenna 164B attached to the work equipment 30 and the position of the control target point P1 on the work equipment setting screen D2 shown in Figure 11. The position of the work equipment antenna 164B may be set in advance, in which case the operator specifies only the control target point P1.

[0097] The setting processing unit 211 of the operation terminal 20 sets the control target point P1 at a position specified by the operator. The setting processing unit 211 also sets the distance between the position of the implement antenna 164B and the control target point P1. Based on the implement positioning information from the implement antenna 164B and the distance between the implement antenna 164B and the control target point P1, the vehicle control device 11 controls the movement of the tractor 10A so that the control target point P1 follows the target path R, as shown in Figure 12. In other words, the vehicle control device 11 controls the movement of the tractor 10A so that the control target point P1 passes through a preset target path R. The control target point P1 is, for example, a working position on the implement 30 (for example, the position of the harvesting section for harvesting vegetables). The operator can set the control target point P1 at any position. In other embodiments, the setting processing unit 211 may automatically set the control target point P1 according to the type of implement 30, or it may present the operator with a recommended position for the control target point P1.

[0098] In the above embodiment, the vehicle control device 11 estimates the attitude of the implement 30 relative to the tractor 10A based on vehicle positioning information measured by a vehicle antenna 164A provided on the tractor 10A and implement positioning information measured by an implement antenna 164B provided on the implement 30. In another embodiment, the vehicle control device 11 may estimate the attitude of the implement 30 relative to the tractor 10A based on the rotation angle of the joint portion of the hitch point 31 (angle d1 in Figure 5) and the implement positioning information. The rotation angle can be detected, for example, by a sensor provided on the joint portion. With the above configuration, the positioning antenna can be attached only to the implement 30, and the positioning antenna on the tractor 10A can be omitted.

[0099] Other methods for setting the implement antenna 164B are described below. Figure 13A shows another example of the implement setting screen D2. Figure 13B is a reference diagram for illustrating the antenna setting method shown in Figure 13A. For example, as shown in Figure 13A, the operator may be able to input the position of the implement antenna 164B (see Figure 13B) on the implement setting screen D2. For example, the operator inputs the distance (vertical length) from the hitch point 31 (see Figure 13B) to the implement antenna 164B, and also the distance (horizontal length) from the left-right center of the tractor 10A (see Figure 13B) to the implement antenna 164B. The setting processing unit 211 sets the position specified by the vertical and horizontal lengths input by the operator as the antenna position. Furthermore, in the implement setting screen D2, the operator may input the length from the rear end of the tractor 10A (see Figure 13B) to the hitch point 31, the length from the hitch point 31 to the axle center of the implement 30 (trailer) (see Figure 13B), the length from the left-right center of the tractor 10A (see Figure 13B) to the working center of the implement 30 (see Figure 13B), and the lengths from the left-right center of the tractor 10A to the left and right ends of the implement 30. In addition, if the implement 30 is an implement that harvests crops according to the ridges (for example, a potato harvester), the operator may input the ridge spacing and the number of ridges in the implement setting screen D2.

[0100] Figure 14A shows another example of the implement setting screen D2 shown in Figure 8. Figure 14B is a reference diagram for explaining the antenna setting method shown in Figure 14A. As shown in Figure 14A, when the implement antenna 164B (see Figure 14B) is set to a position that coincides with the left-right center of the tractor 10A (see Figure 14B) (left-right center), the operator may be able to input the distance (vertical length) from the hitch point 31 (see Figure 14B) to the implement antenna 164B on the implement setting screen D2. The operation terminal 20 may display the implement setting screen D2 shown in Figure 13A or the implement setting screen D2 shown in Figure 14A based on the type of implement 30 or the work content.

[0101] In another embodiment of the present invention, when the vehicle control device 11 is to make the work vehicle 10 travel in a straight line, it may make the work vehicle 10 travel in a straight line based on vehicle positioning information (an example of the second positioning information of the present invention) measured by the vehicle antenna 164A, without using work equipment positioning information (an example of the first positioning information of the present invention) measured by the work equipment antenna 164B. For example, when the vehicle control device 11 is to make the work vehicle 10 travel in a straight line automatically according to a straight path, it may ignore the work equipment positioning information of the work equipment 30, or disable the positioning processing by the work equipment antenna 164B, and make the work vehicle 10 travel in a straight line based on the vehicle positioning information of the tractor 10A. This makes it possible to make the work vehicle 10 travel in a straight line stably.

[0102] Furthermore, in another embodiment of the present invention, when the vehicle control device 11 is making the work vehicle 10 turn, if it is not possible to acquire positioning information for the work machine 30 or if the positioning accuracy of the work machine positioning information is less than a predetermined accuracy, it may switch to manual driving mode and make the vehicle turn. Note that "when work machine positioning information cannot be acquired" includes cases where the work machine 30 (the towed machine) is not equipped with a work machine antenna 164B (when straight driving is performed based on positioning information from the vehicle antenna 164A).

[0103] If the aforementioned work equipment positioning information cannot be obtained, or if the positioning accuracy of the work equipment positioning information is less than a predetermined accuracy, it becomes difficult to drive the work equipment 30 along the turning path, and positional deviations from the turning path are likely to occur. For this reason, the vehicle control device 11 may be configured to switch to manual driving mode and drive the work vehicle 10 in a turning manner in response to manual steering by the operator. The vehicle control device 11 may also be configured to temporarily stop the work vehicle 10 when it automatically switches to manual driving mode, or it may be configured to switch to manual driving mode in response to the operator's operation when the work vehicle 10 is temporarily stopped at the turning start position. Furthermore, while the work vehicle 10 is driving in a straight line based on the vehicle positioning information of the tractor 10A, the vehicle control device 11 may determine whether or not it was able to obtain the work equipment positioning information from the work equipment antenna 164B, and whether or not the positioning accuracy of the obtained work equipment positioning information is above a predetermined accuracy, and then decide whether to drive the turning path automatically based on the work equipment positioning information, or to switch to manual driving mode and drive in a turning manner.

[0104] In each of the embodiments described above, the automatic driving system 1 corresponds to the automatic driving system according to the present invention, but the automatic driving system according to the present invention may consist of a work vehicle 10 alone. Alternatively, the automatic driving system according to the present invention may consist of an operation terminal 20 alone. When the automatic driving system according to the present invention consists of an operation terminal 20 alone, the present invention can be specified as an invention of a route generation method for generating a target route R for automatically driving a work vehicle 10 which comprises a towing vehicle (tractor 10A) and a towed machine (work machine 30, trailer, etc.) that is swingably connected to the towing vehicle. Specifically, the route generation method generates a target route R for automatically driving the work vehicle based on first positioning information measured by a first positioning device provided on the towed machine.

[0105] [Notes on the invention] The following is an overview of the inventions extracted from each of the embodiments described above. Note that the configurations and processing functions described below can be selected and combined as desired.

[0106] <Note 1> An automatic driving method for automatically driving a work vehicle comprising a towing vehicle and a towing target machine that is swingably connected to the towing vehicle, An automatic driving method for automatically driving a work vehicle based on first positioning information measured by a first positioning device installed on the towed machine.

[0107] <Note 2> Based on the first positioning information, the attitude of the towed machine relative to the towing vehicle is estimated, and the work vehicle is driven automatically based on the estimated attitude of the towed machine. The automatic driving method described in Appendix 1.

[0108] <Note 3> Based on the first positioning information and the second positioning information obtained by the second positioning device installed on the towing vehicle, the attitude of the towed vehicle is estimated. The automatic driving method described in Appendix 2.

[0109] <Note 4> Based on the amount of change in the attitude of the towed machine estimated from the current driving state of the towing vehicle, the direction of travel of the towing vehicle is controlled. The automatic driving method described in Appendix 2 or 3.

[0110] <Note 5> If the amount of change is greater than or equal to a threshold, the towing vehicle is instructed to perform the corrective action. The automatic driving method described in Appendix 4.

[0111] <Note 6> The aforementioned countermeasures include processes to decelerate or stop the towing vehicle, or processes to move the towing vehicle forward, backward, or turn in order to change the attitude of the towed machine. The automatic driving method described in Appendix 5.

[0112] <Note 7> If the distance from the end of the towed machine to the edge of the field, as determined based on the first positioning information, falls below a predetermined distance, the towing vehicle is instructed to perform an avoidance process to prevent the towed machine from contacting the edge of the field. The automatic driving method described in any of the appendices 1 to 6.

[0113] <Note 8> A settings screen is displayed that allows setting the external dimensions of the towed machine and the position of the first positioning device. The automatic driving method described in any of the appendices 1 to 7.

[0114] <Note 9> A settings screen is displayed that allows setting control points for controlling the position of the towed machine. The automatic driving method described in any of the appendices 1 to 8.

[0115] <Note 10> The work vehicle is automatically driven so that the control target point passes through a pre-set target path. The automatic driving method described in Appendix 9.

[0116] <Note 11> When the aforementioned work vehicle is to travel in a straight line, the work vehicle is to travel in a straight line based on second positioning information obtained by a second positioning device provided on the towing vehicle, without using the first positioning information. The automatic driving method described in any of the appendices 1 to 10.

[0117] <Note 12> When the work vehicle is driven in a turning position, if the first positioning information cannot be acquired or the positioning accuracy of the first positioning information is less than a predetermined accuracy, the mode is switched to manual driving mode and the work vehicle is driven in a turning position. The automatic driving method described in any of the appendices 1 to 11.

[0118] <Note 13> An automatic driving program for automatically driving a work vehicle comprising a towing vehicle and a towing target machine that is swingably connected to the towing vehicle, An automatic driving program in which one or more processors cause the work vehicle to drive automatically based on first positioning information obtained by a first positioning device installed on the towed machine.

[0119] <Note 14> An automated driving system for automatically driving a work vehicle comprising a towing vehicle and a towing target machine that is swingably connected to the towing vehicle, An automatic driving system that causes the work vehicle to drive automatically based on first positioning information obtained by a first positioning device installed on the towed machine. [Explanation of Symbols]

[0120] 1: Automated driving system 10: Work vehicles 10A: Tractor (towing vehicle) 11: Vehicle control system 16: Positioning Unit 20: Operating terminal 21: Operation Control Unit 30: Work equipment (machine to be towed) 31: Hitch Point 32 :Wheel 111: Driving section 161: Positioning Control Unit 164A: Vehicle antenna (second positioning device) 164B: Antenna for work equipment (first positioning device) 211: Configuration Processing Unit 212: Generation Processing Unit 213: Output Processing Unit D1: Menu screen D2: Work equipment settings screen F: Field F1 :Work area F2: Non-work area R: Target path S:Work start position G: End position of work P1: Controlled point

Claims

1. An automatic driving method for automatically driving a work vehicle comprising a towing vehicle and a towing target machine that is swingably connected to the towing vehicle, An automatic driving method for automatically driving a work vehicle based on first positioning information measured by a first positioning device installed on the towed machine.

2. Based on the first positioning information, the attitude of the towed machine relative to the towing vehicle is estimated, and the work vehicle is driven automatically based on the estimated attitude of the towed machine. The automatic driving method according to claim 1.

3. Based on the first positioning information and the second positioning information obtained by the second positioning device installed on the towing vehicle, the attitude of the towed vehicle is estimated. The automatic driving method according to claim 2.

4. Based on the amount of change in the attitude of the towed machine estimated from the current driving state of the towing vehicle, the direction of travel of the towing vehicle is controlled. The automatic driving method according to claim 2 or 3.

5. If the amount of change is greater than or equal to a threshold, the towing vehicle is instructed to perform the corrective action. The automatic driving method according to claim 4.

6. The aforementioned countermeasures include processes to decelerate or stop the towing vehicle, or processes to move the towing vehicle forward, backward, or turn in order to change the attitude of the towed machine. The automatic driving method according to claim 5.

7. If the distance from the end of the towed machine to the edge of the field, as determined based on the first positioning information, falls below a predetermined distance, the towing vehicle is instructed to perform an avoidance process to prevent the towed machine from contacting the edge of the field. The automatic driving method according to claim 1.

8. A settings screen is displayed that allows setting the external dimensions of the towed machine and the position of the first positioning device. The automatic driving method according to claim 1.

9. A settings screen is displayed that allows setting control points for controlling the position of the towed machine. The automatic driving method according to claim 1.

10. The work vehicle is automatically driven so that the control target point passes through a pre-set target path. The automatic driving method according to claim 9.

11. When the aforementioned work vehicle is to travel in a straight line, the work vehicle is to travel in a straight line based on second positioning information obtained by a second positioning device provided on the towing vehicle, without using the first positioning information. The automatic driving method according to claim 1.

12. When the work vehicle is driven in a turning position, if the first positioning information cannot be acquired or the positioning accuracy of the first positioning information is less than a predetermined accuracy, the mode is switched to manual driving mode and the work vehicle is driven in a turning position. The automatic driving method according to claim 1.

13. An automatic driving program for automatically driving a work vehicle comprising a towing vehicle and a towing target machine that is swingably connected to the towing vehicle, An automatic driving program in which one or more processors cause the work vehicle to drive automatically based on first positioning information obtained by a first positioning device provided on the towing machine.

14. An automated driving system for automatically driving a work vehicle comprising a towing vehicle and a towing target machine that is swingably connected to the towing vehicle, An automatic driving system that causes the work vehicle to automatically drive based on first positioning information obtained by a first positioning device installed on the towed machine.

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