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

Abstract

The present invention provides an automated driving method, an automated driving program, and an automated driving system that enable the efficient movement of multiple work vehicles between work areas. [Solution] In the automatic driving system 1, the sequence setting processing unit 213 sets the order in which multiple work vehicles 10 start driving on the road, based on priority setting information, when there are multiple work vehicles 10 that start driving on the road.

Description

Technical Field

[0001] The present invention relates to a technology for automatically driving a work vehicle on a connection road connecting a plurality of work areas (fields).

Background Art

[0002] Conventionally, work vehicles capable of performing work while automatically traveling within a field (work area) or automatically traveling between a plurality of fields are known. For example, a technique is known in which a work vehicle is temporarily stopped and made to wait at the entrance / exit of a field when the work vehicle moves from one field to another (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 plurality of work vehicles move to other fields after performing work in different fields, a situation may occur in which they travel on the same connection road (road) at the same timing. With conventional technologies, it is difficult to efficiently move a plurality of work vehicles between fields because such situations cannot be handled.

[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 efficiently moving a plurality of work vehicles between work areas.

Means for Solving the Problems

[0006] The automatic driving method according to the present invention is a method for automatically driving a work vehicle on a connecting path that connects multiple work areas. The automatic driving method is a method for setting the order in which multiple work vehicles start driving on the connecting path, based on priority setting information, when there are multiple work vehicles that start driving on the connecting path.

[0007] The automated driving program according to the present invention is a program that causes a work vehicle to automatically drive on a connecting path that connects multiple work areas. The automated driving program is a program that causes one or more processors to set the order in which multiple work vehicles start driving on the connecting path, based on priority setting information, when there are multiple work vehicles that start driving on the connecting path.

[0008] The automated driving system according to the present invention is a system that automatically drives a work vehicle on a connecting path that connects multiple work areas. In the automated driving system, when there are multiple work vehicles that start to travel on the connecting path, the setting processing unit sets the order in which the multiple work vehicles start to travel on the connecting path based on priority setting information. [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 efficiently move multiple work vehicles between work areas. [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 an example of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a target path according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of inter-field movement according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of inter-field movement according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of inter-field movement 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 an operation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 9] Figure 9 shows an example of inter-field movement according to an embodiment of the present invention. [Figure 10] Figure 10 shows an example of inter-field movement according to an embodiment of the present invention. [Figure 11] Figure 11 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 12] Figure 12 is a schematic diagram showing the configuration of an automated driving system according to another embodiment of the present invention. [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 Figure 1, the automated driving system 1 according to an embodiment of the present invention includes a plurality of work vehicles 10 and an operation terminal 20. Each work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, each work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN. In the automated driving system, there may be one operation terminal 20 or a plurality of operation terminals 20.

[0013] The work vehicle of the present invention is a tractor, a rice transplanter, a combine harvester, a construction machine, a snow removal vehicle, etc. Each work vehicle may be of the same type or different types. In the present embodiment, the case where the work vehicle 10 is a tractor will be described as an example. Each work vehicle 10 is configured to be capable of automatically traveling (autonomous driving) along a preset target path in each field which is a work area. Also, each work vehicle 10 is capable of performing a predetermined work while automatically traveling along the target path in each field. Further, each work vehicle 10 is configured to be capable of automatically traveling along a preset movement path (inter-field path) on a road (connection road) connecting a plurality of fields. Each work vehicle 10 automatically travels along the preset target path and inter-field path with respect to the roads inside and outside the field based on the position information of the current position of the work vehicle 10 calculated by the positioning unit 16.

[0014] FIG. 3 shows an example of a field F and a target path R set in the field F. An entrance / exit is set in the field F. The work vehicle 10 enters the field F from the entrance / exit, performs work while automatically traveling along the target path R, and when the work in the field F is completed, exits the field F from the entrance / exit and automatically travels along the inter-field path set on the road. The entrance / exit is set based on the shape of the field F, the working direction in the field F, etc.

[0015] For example, the work vehicle 10A shown in FIG. 4 performs a predetermined work while automatically traveling along a preset target path R (working path) in the field F1. When the work in the field F1 is completed, the work vehicle 10A automatically travels on the road R0 along a preset inter-field path R12 (movement path) and moves to the field F2. For example, the work vehicle 10A automatically travels on the inter-field path R12 connecting the entrance / exit H1 of the field F1 and the entrance / exit H2 of the field F2. When the work vehicle 10A arrives at the field F2, it performs a predetermined work while automatically traveling along the preset target path R in the field F2.

[0016] For example, the work vehicle 10B shown in FIG. 5 performs predetermined work while automatically traveling along a preset target path R in the field F3. When the work in the field F3 is completed, the work vehicle 10B automatically travels on the road R0 along a preset inter-field path R34 and moves to the field F4. For example, the work vehicle 10B automatically travels on the inter-field path R34 connecting the entrance / exit H3 of the field F3 and the entrance / exit H4 of the field F4. When the work vehicle 10B arrives at the field F4, it performs predetermined work while automatically traveling along a preset target path R in the field F4.

[0017] For example, the work vehicle 10C shown in FIG. 6 performs predetermined work while automatically traveling along a preset target path R in the field F5. When the work in the field F5 is completed, the work vehicle 10C automatically travels on the road R0 along a preset inter-field path R56 and moves to the field F6. For example, the work vehicle 10C automatically travels on the inter-field path R56 connecting the entrance / exit H5 of the field F5 and the entrance / exit H6 of the field F6. When the work vehicle 10C arrives at the field F6, it performs predetermined work while automatically traveling along a preset target path R in the field F6.

[0018] The target path R within each field is generated based on the respective work content and the like. Also, each target path R is generated according to the operation of the operator (user) on the operation terminal 20. Also, each inter-field path set for the road R0 is set based on the operation (teaching operation) by the operator.

[0019] Each road (connection road of the present invention) connecting between fields may be a road dedicated to work vehicles such as farm roads, forest roads, public roads, private roads, motorways, etc., or may be a road on which general vehicles (such as passenger cars) can pass.

[0020] [Work vehicle 10] An example of a work vehicle 10 will be described using Figures 1 and 2. The work vehicle 10 includes a vehicle control device 11, a memory unit 12, a running device 13, a work machine 14, a communication unit 15, a positioning unit 16, and the like. The vehicle control device 11 is electrically connected to the memory unit 12, the running device 13, the work machine 14, the positioning unit 16, and the like. The vehicle control device 11 and the positioning unit 16 may be capable of wireless communication.

[0021] 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. The work vehicle 10 can communicate wirelessly with the operation terminal 20 via the communication unit 15.

[0022] 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 11). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may also be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. In addition, the storage unit 12 may store route data for the target route R and the inter-field route generated at the operation terminal 20.

[0023] The running gear 13 is the drive unit that moves the work vehicle 10. 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 work vehicle 10, 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 work vehicle 10.

[0024] 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 the battery installed on the work vehicle 10. The battery is charged by the power supplied from the generator. The vehicle control device 11 and electrical components such as the positioning unit 16 installed on the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0025] 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 work equipment 14 via the PTO shaft (not shown). When the work vehicle 10 is driving automatically, the travel device 13 performs driving operations according to the commands of the vehicle control device 11.

[0026] The implement 14 is, for example, a tiller, a mower, a plow, a fertilizer spreader, a seed planter, a spreader, etc., and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. In this embodiment, the example will be described in which the implement 14 is a tiller and the work vehicle 10 performs tilling work in multiple fields.

[0027] When the work vehicle 10 travels on the road R0 (see Figure 3), it may travel with the implement 14 attached or with the implement 14 removed. For example, when the work vehicle 10A performs tilling work in field F1 and field F2, after the tilling work in field F1 is completed, the work vehicle 10A travels on the road R0 with the implement 14 attached to move to field F2 and performs tilling work in field F2. If the work vehicle 10A is equipped with a lifting function for the implement 14, it travels on the road R0 with the implement 14 raised.

[0028] For example, if the work vehicle 10A performs different tasks in field F1 and field F2, after completing the work in field F1, the work vehicle 10A will travel along road R0 to field F2 with the implement 14 removed, and then attach a different implement 14 to field F2 to perform the work.

[0029] The steering wheel 137 is an operating unit operated by an operator or a vehicle control device 11. For example, in the travel device 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, thereby changing the direction of travel of the work vehicle 10. When an operator performs a teaching operation, the operator operates the steering wheel 137 to manually drive the work vehicle 10.

[0030] 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 work vehicle 10 is switched to forward or reverse, etc. The vehicle control device 11 also controls the rotational speed of the engine 131 by operating the accelerator. The vehicle control device 11 also controls the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes by operating the brakes.

[0031] The positioning unit 16 is a communication device comprising a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in Figure 2, the positioning unit 16 is installed on top of the cabin 18 where the operator sits. However, the installation location of the positioning unit 16 is not limited to the cabin 18. Furthermore, the positioning control unit 161, memory unit 162, communication unit 163, and positioning antenna 164 of the positioning unit 16 may be distributed and arranged at different locations on the work vehicle 10. As mentioned above, the positioning unit 16 is connected to the battery, and the positioning unit 16 can operate even when the engine 131 is stopped. In addition, the positioning unit 16 may be replaced with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0032] 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 a program for causing the positioning control unit 161 to perform positioning processing, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as flash ROM, EEPROM, CD, or DVD, and is 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.

[0033] The communication unit 163 is a communication interface that connects the positioning unit 16 to the communication network N1 by wire or wireless connection and performs data communication with external devices such as base stations (not shown) via the communication network N1 in accordance with a predetermined communication protocol.

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

[0035] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is automatically driving on a field, road, etc., the positioning antenna 164 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 positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 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)) which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 automatically drives using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or it may be a position shifted from the positioning position. The positioning control unit 161 may also use a quantum compass to calculate (position) the current position of the work vehicle 10.

[0036] 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 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 vehicle control device 11 controls the work vehicle 10 by executing various control programs stored in advance in the ROM or memory unit 12 using the CPU.

[0037] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also performs automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and the pre-set target route R and field-to-field route.

[0038] As shown in Figure 1, the vehicle control device 11 includes various processing units such as the driving processing unit 111. The vehicle control device 11 functions as these various processing units by executing various processes according to the automatic driving program using the CPU. Some or all of these 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.

[0039] The driving processing unit 111 controls the movement of the work vehicle 10. Specifically, when the driving processing unit 111 receives a start-to-drive instruction from the operation terminal 20, it starts the automatic movement of the work vehicle 10. For example, when an operator presses the start button on the operation screen D2 of the operation terminal 20 (see Figure 8), the operation terminal 20 outputs a start-to-drive instruction to the work vehicle 10. When the driving processing unit 111 receives the start-to-drive instruction from the operation terminal 20, it starts the automatic movement of the work vehicle 10.

[0040] As a result, for example, the work vehicle 10A automatically starts driving along the target route R (see Figure 3) within field F1 and begins working with the implement 14. Similarly, the work vehicle 10A automatically starts driving along the target route R within field F2 and begins working with the implement 14. Furthermore, the work vehicle 10A automatically drives along the inter-field route R12 (see Figure 4) on road R0. For example, when the work vehicle 10A finishes working in field F1 and arrives at entrance / exit H1, it stops at entrance / exit H1 and waits until it receives a driving start instruction from the operation terminal 20. Upon receiving the driving start instruction from the operation terminal 20, the work vehicle 10A automatically starts driving along the inter-field route R12. The operation terminal 20 may output a command to start driving to the work vehicle 10A waiting at the entrance / exit H1 when the operator presses the start button (see Figure 8) based on the priority setting information described later, or it may output the command to the work vehicle 10A automatically based on the priority setting information.

[0041] In this way, the driving processing unit 111 can automatically drive the work vehicle 10 along the inter-field route on the road R0 outside the field. For example, as shown in Figure 4, the driving processing unit 111 of work vehicle 10A automatically drives work vehicle 10A along the road R0 connecting field F1 and field F2, following the inter-field route R12 set on road R0. Also, as shown in Figure 5, the driving processing unit 111 of work vehicle 10B automatically drives work vehicle 10B along the road R0 connecting field F3 and field F4, following the inter-field route R34 set on road R0. Also, as shown in Figure 6, the driving processing unit 111 of work vehicle 10C automatically drives work vehicle 10C along the road R0 connecting field F5 and field F6, following the inter-field route R56 set on road R0.

[0042] The target route R and inter-field routes that each work vehicle 10 will automatically travel are generated, for example, in the operation terminal 20. Each work vehicle 10 obtains route data corresponding to the target route R and inter-field routes from the operation terminal 20 and automatically travels according to the target route R and inter-field routes.

[0043] Furthermore, when the driving processing unit 111 receives a driving stop instruction from the operation terminal 20, it stops the automatic driving of the work vehicle 10. For example, when an operator presses the stop button on the operation screen D2 of the operation terminal 20 (see Figure 8), the operation terminal 20 outputs a driving stop instruction to the work vehicle 10.

[0044] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when the work vehicle 10 detects an obstacle. For example, if an obstacle detection device (not shown) mounted on the work vehicle 10 detects an obstacle in the range of 3m to 8m in front of the work vehicle 10, the driving processing unit 111 slows down the work vehicle 10. Also, if the obstacle detection device detects an obstacle within a range of up to 3m in front of the work vehicle 10, the driving processing unit 111 stops the work vehicle 10.

[0045] Incidentally, when multiple work vehicles 10 move to other fields F after performing work in different fields F, a situation may arise where they travel on the same road R0 at the same time. For example, when work vehicle 10A is waiting at entrance H1 when moving from field F1 to field F2, work vehicle 10B may be waiting at entrance H3 when moving from field F3 to field F4. In this embodiment, when multiple work vehicles 10 are simultaneously in a waiting state, each work vehicle 10 starts traveling along the inter-field route (inter-field movement) in the order set based on priority setting information (described later).

[0046] [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.

[0047] 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.

[0048] 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 perform operations to register various information (such as work vehicle information, field information, and work information, as described later) by operating the operation unit on the operation screen displayed on the display unit.

[0049] Furthermore, the operator performs an operation (for example, a teaching operation) on the control unit to set an inter-field route for automatic travel along the road R0 (connecting road) connecting the fields. For example, when the operator rides in the work vehicle 10 and manually drives along road R0, the control unit 21 registers the travel trajectory of the work vehicle 10 as the inter-field route.

[0050] Furthermore, the operator can use the control unit to issue commands to the work vehicle 10 to start driving, to stop driving, etc. In addition, the operator can, from a location away from the work vehicle 10, understand the progress of the work vehicle 10 as it automatically travels through field F and road R0 according to the target route R and the inter-field route, by observing the driving trajectory displayed on the control terminal 20.

[0051] 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 control programs, such as an automatic driving program, which causes the operation control unit 21 to execute the automatic driving process (see Figure 11) described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. Alternatively, the automatic driving 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.

[0052] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts the dedicated application and performs various processing tasks related to the work vehicle 10, such as setting various information, generating the target route R and field-to-field route for the work vehicle 10, and issuing automatic driving instructions to the work vehicle 10.

[0053] Furthermore, the memory unit 22 stores data such as work vehicle information, which is information related to the work vehicle 10, and target route information, which is information related to the target route.

[0054] The aforementioned work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is the identification information for work vehicle 10. The model is the model of work vehicle 10.

[0055] When the operation terminal 20 communicates data with one work vehicle 10, the storage unit 22 stores the work vehicle information for that one work vehicle 10. When the operation terminal 20 communicates data with multiple work vehicles 10, the storage unit 22 stores the work vehicle information for multiple work vehicles 10. For example, when a specific operator manages multiple work vehicles 10 using one operation terminal 20, multiple pieces of work vehicle information for each work vehicle 10 are stored in the storage unit 22.

[0056] The target route information includes information such as the route name, field name, address, field area, and working time for each target route. The route name is the route name of the target route generated on the operation terminal 20. The field name is the name of the field F to which the target route is set. The address is the address of field F, and the field area is the area of ​​field F. The working time is the estimated time required (estimated time needed, etc.) for working on field F using the work vehicle 10.

[0057] If the target route is a route corresponding to road R0 (a route between fields), the target route information includes information such as the route name, address, distance traveled, and travel time. The route name is the name of the road, and the address is the address of the road. The distance traveled is the distance that the work vehicle 10 travels along road R0, for example, the distance that work vehicle 10A travels along road R0 from field F1 to field F2. The travel time is the time that the work vehicle 10 travels along road R0, for example, the estimated time required for work vehicle 10A to travel from field F1 to field F2 (estimated travel time).

[0058] The memory unit 22 may store the target route information for one target route R, or it may store the target route information for multiple target routes R. For example, if a particular operator generates multiple target routes R for one or more fields F owned by them, the target route information for each target route R is stored in the memory unit 22. One target route R may be set for one field F, or multiple target routes R may be set. Also, one inter-field route may be set for a pair of fields F (two fields F where work is performed consecutively), or multiple inter-field routes may be set. In this embodiment, the memory unit 22 stores target route information corresponding to each target route R (see Figure 3) that travels through fields F1 to F6, and target route information corresponding to inter-field routes R12 (see Figure 4), R34 (see Figure 5), and R56 (see Figure 6) that travel along road R0.

[0059] In another embodiment, some or all of the information, such as the work vehicle information and the target route information, may be stored on a server accessible from the operation terminal 20. The operator may register the work vehicle information and the target route information on the server (e.g., a personal computer, a cloud server, etc.). In this case, the operation control unit 21 may obtain the information from the server and execute various processes, such as the automatic driving process described later (see Figure 11).

[0060] 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 cause 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 temporary memory for various processes performed by the CPU. The operation control unit 21 controls the operation terminal 20 by executing various control programs that are pre-stored in the ROM or memory unit 22 using the CPU.

[0061] As shown in Figure 1, the operation control unit 21 includes various processing units such as a driving setting processing unit 211, an output processing unit 212, and a sequence setting 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.

[0062] The driving setting processing unit 211 sets various setting information for the work vehicle 10 to perform automatic driving. When the operation terminal 20 manages multiple work vehicles 10, the driving setting processing unit 211 sets the setting information for each work vehicle 10.

[0063] Specifically, the driving setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as "work vehicle information"). The driving setting processing unit 211 sets information such as the type (model) of the work vehicle 10, the position where the positioning antenna 164 is attached to the work vehicle 10, the type of work equipment 14, the size and shape of the work equipment 14, the position of the work equipment 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during work, and the vehicle speed and engine speed of the work vehicle 10 during turning, by having the operator register this information on the operation terminal 20.

[0064] For example, the driving setting processing unit 211 displays the menu screen D1 shown in Figure 7 on the operation display unit 23. The operator selects "Register Work Equipment" on menu screen D1 to register work equipment information related to work equipment 14.

[0065] Furthermore, the driving setting processing unit 211 sets information related to field F (hereinafter referred to as field information). The driving setting processing unit 211 sets information such as the location and shape of field F, the work start position S where work begins and the work end position G where work ends (see Figure 3), and the work direction by performing an operation to register this information 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 14 in the work area excluding the headland and non-work area from field F. For example, the operator registers the field information by selecting "Field Registration" on the menu screen D1.

[0066] 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 around the perimeter of field F, while recording the changes in the position information of the positioning antenna 164 during that time. Alternatively, the location and shape of field F can also be acquired based on a polygon obtained by having an operator operate the operation terminal 20 to specify multiple points on the map displayed on the terminal 20. The area identified by the acquired location and shape of field F is the area in which the work vehicle 10 can travel (driving area).

[0067] Furthermore, the driving setting processing unit 211 sets information regarding how the work will be performed in detail (hereinafter referred to as "work information"). The driving setting processing unit 211 is configured to set, as work information, whether or not there will be 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-cultivated land. For example, the operator registers the work information by selecting "Work Registration" on the menu screen D1.

[0068] Furthermore, the driving setting processing unit 211 generates a target route (target route R within field F and inter-field route on road R0) which is the route for the work vehicle 10 to travel automatically, based on the aforementioned setting information. The driving setting processing unit 211 generates and stores the target route R and inter-field route for the work vehicle 10 based on the aforementioned pre-set setting information. For example, the operator selects "Create Route" on menu screen D1 to instruct the generation of the target route R and inter-field route.

[0069] Furthermore, the driving setting processing unit 211 creates a work plan during the route generation process. For example, when a work vehicle 10 is to work on multiple fields F consecutively, the driving setting processing unit 211 creates a work plan based on the operator's settings, which includes information such as the order of work (movement order) for the multiple fields F, the target route R for each field F, the route between fields, the time required for the work, and the distance traveled. The work plan may include a desired total time, which is the sum of the work time when working at each field F and the travel time when moving between fields. For example, the driving setting processing unit 211 may accept input of the desired time from the operator. The operator confirms the created work plan and starts the work. When the operation terminal 20 manages multiple work vehicles 10, the driving setting processing unit 211 creates a work plan for each work vehicle 10.

[0070] The driving setting processing unit 211 displays a list of work plans (not shown) on the operation terminal 20, which is a list of the work plans that have been created. Each work plan in the work plan list includes the name of the work plan, the registration date, etc. The driving setting processing unit 211 accepts the operator's selection of a work plan from the work plan list. For example, when the operator selects a predetermined work plan in the work plan list and presses the start button, the output processing unit 212 outputs route data for the target route R and the inter-field route corresponding to that work plan to the work vehicle 10.

[0071] For example, when the operating terminal 20 manages the work vehicles 10A, 10B, and 10C, the output processing unit 212 of the operating terminal 20 outputs route data to work vehicle 10A, including each target route R corresponding to field F1 and field F2 and the inter-field route R12 moving from field F1 to field F2; route data to work vehicle 10B, including each target route R corresponding to field F3 and field F4 and the inter-field route R34 moving from field F3 to field F4; and route data to work vehicle 10C, including each target route R corresponding to field F5 and field F6 and the inter-field route R56 moving from field F5 to field F6.

[0072] When the work vehicle 10A acquires the route data output from the operation terminal 20, it will start automatic driving and work in field F1 if the conditions for starting automatic driving are met. Once the work in field F1 is completed, it will automatically drive along the inter-field route R12 to field F2 and perform automatic driving and work in field F2 (see Figure 4).

[0073] When the work vehicle 10B acquires the route data output from the operation terminal 20, if the conditions for starting automatic driving are met, it will start automatic driving and work in field F3. Once the work in field F3 is completed, it will automatically drive along the inter-field route R34 to field F4 and perform automatic driving and work in field F4 (see Figure 5).

[0074] When the work vehicle 10C acquires the route data output from the operation terminal 20, it will start automatic driving and work in field F5 if the conditions for starting automatic driving are met. Once the work in field F5 is completed, it will automatically drive along the inter-field route R56 to field F6 and perform automatic driving and work in field F6 (see Figure 6).

[0075] The sequence setting processing unit 213 sets the order in which multiple work vehicles 10 start traveling on road R0 (inter-field movement) based on priority setting information, when there are multiple work vehicles 10 that are to start traveling on road R0 (inter-field movement). Specifically, when one work vehicle 10 is waiting at the entrance / exit of field F, and one or more other work vehicles 10 are waiting at the entrance / exit of other fields F, the sequence setting processing unit 213 sets the order in which the multiple work vehicles 10 that are in overlapping waiting states will start inter-field movement based on priority setting information. A specific example of how to set the order in which inter-field movement will start is described below.

[0076] [First Embodiment] In the first embodiment, the sequence setting processing unit 213 sets the order in which multiple work vehicles 10 begin moving between fields based on the waiting time (an example of the first waiting time in the present invention) for the work vehicles 10 to wait at an entrance / exit (an example of a predetermined position in the present invention). For example, the sequence setting processing unit 213 sets a higher priority for work vehicles 10 with longer waiting times among multiple work vehicles 10 that are in a waiting state, and a lower priority for work vehicles 10 with shorter waiting times. For example, the sequence setting processing unit 213 starts measuring time from the moment a work vehicle 10 finishes work in field F and arrives at the entrance / exit, and calculates the waiting time. As a result, the sequence setting processing unit 213 sets the priority in the order in which the work vehicles 10 arrive at the entrance / exit.

[0077] For example, if work vehicle 10A finishes work in field F1 and arrives at the entrance / exit H1 of field F1 and enters a waiting state, and then work vehicle 10B finishes work in field F3 and arrives at the entrance / exit H3 of field F3 and enters a waiting state, the sequence setting processing unit 213 sets the travel order of work vehicle 10A on road R0 to 1st (priority 1st) and the travel order of work vehicle 10B on road R0 to 2nd (priority 2nd).

[0078] According to the first embodiment, multiple work vehicles 10 begin traveling on road R0 (moving between fields) in the order in which they complete work in field F and arrive at the entrance.

[0079] [Second Example] In the second embodiment, the sequence setting processing unit 213 sets the order in which the multiple work vehicles 10 will start moving between fields, based on a waiting time (an example of the second waiting time in the present invention) for the work vehicles 10 to wait at the entrance or exit of field F in order to avoid crossing paths when multiple work vehicles 10 are expected to cross paths with each other while traveling on road R0.

[0080] For example, Figure 9 shows how the standby states of work vehicle 10A and work vehicle 10B overlap and how they intersect on road R0 when it is assumed (simulated) that they each begin moving between fields. Note that in the second embodiment, road R0 is wide enough for one work vehicle 10 to travel on, but it is not wide enough for two work vehicles 10 traveling in opposite directions to pass each other on road R0, nor for two work vehicles 10 traveling in the same direction to overtake each other on road R0.

[0081] The sequence setting processing unit 213 determines, based on the inter-field route and vehicle speed of each work vehicle 10, whether or not each work vehicle 10 would cross paths on road R0 if it were assumed that each work vehicle 10 had started moving between fields.

[0082] In the example shown in Figure 9, the direction of travel of work vehicle 10A and the direction of travel of work vehicle 10B are opposite each other on the same road R0, so the sequence setting processing unit 213 determines that work vehicle 10A and work vehicle 10B will cross paths when moving between fields. In this case, the sequence setting processing unit 213 has work vehicle 10A and work vehicle 10B wait at the entrance / exit of field F so that they do not cross paths. For example, the inter-field route R12 of work vehicle 10A includes three turning paths, and work vehicle 10B cannot start traveling on the inter-field route R34 until work vehicle 10A enters field F2. In particular, work vehicle 10B cannot travel on the overlapping portion of inter-field route R34 and inter-field route R12 until work vehicle 10A has completed its turning and entered field F2. On the other hand, the inter-field route R34 of the work vehicle 10B includes two turning paths, and the work vehicle 10A can start traveling on the inter-field route R12 before the work vehicle 10B enters field F4. For example, the work vehicle 10A can start traveling on the overlapping section of the inter-field route R34 and the inter-field route R12 when the work vehicle 10B has passed the overlapping section of the inter-field route R34 and the inter-field route R12. Therefore, if the work vehicle 10A starts moving between fields before the work vehicle 10B, the waiting time for the work vehicle 10B will be longer than the waiting time for the work vehicle 10A if the work vehicle 10B starts moving between fields before the work vehicle 10A.

[0083] In this case, the sequence setting processing unit 213 sets the priority of work vehicle 10B higher and the priority of work vehicle 10A lower so that the waiting times for work vehicle 10A and work vehicle 10B are shortened. Specifically, the sequence setting processing unit 213 sets the travel order of work vehicle 10B on road R0 to 1st (priority 1st) and the travel order of work vehicle 10A on road R0 to 2nd (priority 2nd).

[0084] Furthermore, the aforementioned waiting time is not limited to the time spent waiting at the entrance or exit of field F, but may also be the time spent waiting before the overlapping section of the inter-field paths on road R0.

[0085] Figure 10 shows another embodiment of the second embodiment. In the example shown in Figure 10, a work vehicle 10B moves from field F4 to field F3. For example, after completing work in field F4, work vehicle 10B travels along the inter-field path R43 to field F3 and performs work in field F3. In this case, the direction of travel of work vehicle 10A and work vehicle 10B are the same direction on the same road R0. Here, if the speed of work vehicle 10B when traveling on road R0 is faster than the speed of work vehicle 10A when traveling on road R0, and work vehicle 10A starts moving between fields before work vehicle 10B, work vehicle 10B may catch up to work vehicle 10A, potentially hindering the movement of work vehicle 10B. In this case, the sequence setting processing unit 213 sets the priority of work vehicle 10B higher and the priority of work vehicle 10A lower so that the waiting times for work vehicle 10A and work vehicle 10B are shortened. That is, the sequence setting processing unit 213 sets the travel order of work vehicle 10B on road R0 to 1st and the travel order of work vehicle 10A on road R0 to 2nd.

[0086] Thus, the sequence setting processing unit 213 prioritizes the inter-field movement of the faster work vehicle 10 if the waiting time for the faster work vehicle 10, which is expected to overtake the slower work vehicle 10, would be long. The sequence setting processing unit 213 may also set the waiting time for work vehicle 10A based on the time it takes for work vehicle 10B to pass the beginning of the overlapping portion between inter-field routes R12 and R43. This allows work vehicle 10A to start moving between fields at the same time that work vehicle 10B passes the beginning. Alternatively, work vehicle 10A may be made to wait before the beginning of inter-field route R12.

[0087] [Third Embodiment] In the third embodiment, the sequence setting processing unit 213 combines the first and second embodiments to set the order in which the multiple work vehicles 10 will start moving between fields.

[0088] Specifically, the sequence setting processing unit 213 sets the order in which multiple work vehicles 10 will begin moving between fields, based on a first waiting time (actual time) in which the work vehicles 10 wait at the entrance / exit and a second waiting time (expected time) in which the work vehicles 10 wait at the entrance / exit of field F when it is expected that multiple work vehicles 10 will cross paths.

[0089] For example, the order setting processing unit 213 calculates the total waiting time for each work vehicle 10 by adding the first waiting time and the second waiting time, and sets a higher priority for work vehicles 10 with a longer total waiting time and a lower priority for work vehicles 10 with a shorter total waiting time.

[0090] For example, the order setting processing unit 213 may also set weights for the first waiting time and the second waiting time. For example, if the time spent waiting by the work vehicle 10 (first waiting time) is given priority, the order setting processing unit 213 multiplies the first waiting time of the work vehicle 10 with the longest first waiting time (e.g., work vehicle 10A) by a weight (a coefficient greater than 1) to calculate the total waiting time. This makes it possible to make the first waiting time of work vehicle 10A even longer than the first waiting time of work vehicle 10B, thereby increasing the priority of work vehicle 10A.

[0091] Furthermore, for example, if the waiting time (second waiting time) is to be prioritized when multiple work vehicles 10 are expected to cross paths, the sequence setting processing unit 213 multiplies the second waiting time of the work vehicle 10 with the longest second waiting time until they stop crossing (for example, work vehicle 10B) by a weight (a coefficient greater than 1) to calculate the total waiting time. This makes it possible to make the second waiting time of work vehicle 10B even longer than the second waiting time of work vehicle 10A, thereby increasing the priority of work vehicle 10B.

[0092] [Fourth embodiment] In the fourth embodiment, the sequence setting processing unit 213 sets the order in which multiple work vehicles 10 will start moving between fields based on priority information that has been set in advance for each of the multiple fields F. Specifically, the sequence setting processing unit 213 sets a priority in advance for each field F to be worked on, and sets the order of movement between fields based on that priority.

[0093] For example, the sequence setting processing unit 213 sets the priority of each field F according to the operator's setting operation. For example, the operator sets the priority of the field F that they want to prioritize work on to a high rank and the priority of the field F that does not need to be prioritized to a low rank. The operator can set any order for each field F. In addition, the operator may set a priority ("high", "medium", "low", etc.) for each field F.

[0094] In another embodiment of the fourth example, the sequence setting processing unit 213 may automatically set the priority of each field F based on the work information (work content, etc.) set for each field F, or it may automatically set the priority of each field F based on the size of each field F. For example, if the work in field F2 needs to be completed earlier than the work in field F4 (i.e., the target work completion time for field F2 is earlier than that for field F4), the sequence setting processing unit 213 sets a higher priority for field F2 and a lower priority for field F4. Also, for example, if the area of ​​field F2 is larger than the area of ​​field F4, the sequence setting processing unit 213 sets a higher priority for field F2 and a lower priority for field F4.

[0095] Furthermore, for example, if the work content in field F2 and the work content in field F4 are the same, the order setting processing unit 213 may set a higher priority for the field with the larger area.

[0096] In another embodiment of the fourth embodiment, the sequence setting processing unit 213 may combine the first to third embodiments with the priority of field F to set the order in which multiple work vehicles 10 will start moving between fields. For example, if the first waiting time (waiting time corresponding to the first embodiment) of each work vehicle 10 is the same, the sequence setting processing unit 213 may set the order in which each work vehicle 10 will start moving between fields based on the priority of each field F. Also, for example, if the second waiting time (waiting time corresponding to the second embodiment) of each work vehicle 10 is the same, the sequence setting processing unit 213 may set the order in which each work vehicle 10 will start moving between fields based on the priority of each field F. Furthermore, if a weight is set for the priority of field F, the sequence setting processing unit 213 may prioritize the priority of field F over the first waiting time and the second waiting time to set the order in which each work vehicle 10 will start moving between fields.

[0097] [Fifth Example] In the fifth embodiment, the sequence setting processing unit 213 sets the order in which the multiple work vehicles 10 will start moving between fields, based on priority information that has been set in advance for each of the multiple work vehicles 10. Specifically, the sequence setting processing unit 213 sets a priority in advance for each work vehicle 10 and sets the order of movement between fields based on that priority.

[0098] For example, the sequence setting processing unit 213 sets the priority of each work vehicle 10 according to the operator's setting operation. For example, the operator sets the priority of work vehicles 10 that they want to prioritize to a high rank and the priority of work vehicles 10 that do not need to be prioritized to a low rank. The operator can set any order for each work vehicle 10. In addition, the operator may set a priority (such as "high", "medium", or "low") for each work vehicle 10.

[0099] In another embodiment of the fifth embodiment, the sequence setting processing unit 213 may automatically set the priority of each work vehicle 10 based on the work information (work content, etc.) performed by each work vehicle 10, or it may automatically set the priority of each work vehicle 10 based on the work efficiency of each work vehicle 10. For example, if the work performed by work vehicle 10A needs to be completed earlier than the work performed by work vehicle 10B (for example, if the target work completion time for field F2 where work vehicle 10A is working is earlier than for field F4 where work vehicle 10B is working), the sequence setting processing unit 213 may set the priority of work vehicle 10A higher and the priority of work vehicle 10B lower. Also, for example, if work vehicle 10A is a large vehicle and work vehicle 10B is a small vehicle, and the work efficiency of work vehicle 10A is higher than that of work vehicle 10B, the sequence setting processing unit 213 may set the priority of work vehicle 10A higher and the priority of work vehicle 10B lower.

[0100] In another embodiment of the fifth embodiment, the sequence setting processing unit 213 may combine the first to third embodiments with the priority of the work vehicles 10 to set the order in which multiple work vehicles 10 will start moving between fields. For example, if the first waiting time (waiting time corresponding to the first embodiment) of each work vehicle 10 is the same, the sequence setting processing unit 213 may set the order in which each work vehicle 10 will start moving between fields based on the priority of each work vehicle 10. Also, for example, if the second waiting time (waiting time corresponding to the second embodiment) of each work vehicle 10 is the same, the sequence setting processing unit 213 may set the order in which each work vehicle 10 will start moving between fields based on the priority of each work vehicle 10. Furthermore, if a weight is set for the priority of the work vehicle 10, the sequence setting processing unit 213 may prioritize the priority of the work vehicle 10 over the first waiting time and the second waiting time to set the order in which each work vehicle 10 will start moving between fields.

[0101] As described above, the sequence setting processing unit 213 sets the order in which the multiple work vehicles 10 will start moving between fields using the methods shown in the first to fifth embodiments. Alternatively, the sequence setting processing unit 213 may set the order in which each work vehicle 10 will start moving between fields using at least one of the methods shown in the first to fifth embodiments.

[0102] Furthermore, in the first to fifth embodiments described above, the sequence setting processing unit 213 may, when it is expected that multiple work vehicles 10 will cross paths with each other while traveling on road R0, set the order in which the multiple work vehicles 10 will start traveling on road R0 based on the priority setting information. Specifically, the sequence setting processing unit 213 determines whether or not each work vehicle 10 will cross paths based on whether or not the respective field routes of the multiple work vehicles 10 overlap in at least part.

[0103] For example, the sequence setting processing unit 213 determines that each work vehicle 10 will cross paths if the paths between each field overlap in at least part (see Figures 9 and 10). In this case, the sequence setting processing unit 213 sets the order in which each work vehicle 10 will start moving between fields based on the priority setting information, and each work vehicle 10 starts moving between fields in the set order.

[0104] In response to this, the sequence setting processing unit 213 determines that if the inter-field routes do not overlap, the work vehicles 10 will not cross paths. In this case, the sequence setting processing unit 213 does not set the order in which each work vehicle 10 will start moving between fields, and each work vehicle 10 will start moving between fields at any time. For example, as shown in Figure 6, the inter-field route R56 of work vehicle 10C does not overlap with either the inter-field route R12 of work vehicle 10A (see Figure 4) or the inter-field route R34 of work vehicle 10B (see Figure 5), so the sequence setting processing unit 213 does not set the order in which work vehicle 10C will start moving between fields, and work vehicle 10C will start moving between fields at any time (for example, when the operator gives the instruction to start moving).

[0105] In another embodiment, the sequence setting processing unit 213 may determine whether or not each work vehicle 10 will intersect based on the width of the road R0, the width of the work vehicle 10 and the work machine 14, the vehicle speed of the work vehicle 10, etc.

[0106] For example, if the width of road R0 is smaller than the sum of the widths of the implements 14 of the two work vehicles 10, the sequence setting processing unit 213 determines that the work vehicles 10 will intersect. In this case, the sequence setting processing unit 213 sets the order in which each work vehicle 10 will start moving between fields based on the priority setting information, and each work vehicle 10 starts moving between fields in the set order. This allows each work vehicle 10 to move between fields efficiently and ensures safety during movement between fields.

[0107] In contrast, if, for example, the width of road R0 is greater than the sum of the widths of the implements 14 of the two work vehicles 10, the sequence setting processing unit 213 determines that the work vehicles 10 will not cross paths (for example, they can pass each other or overtake each other). In this case, the sequence setting processing unit 213 does not set the order in which each work vehicle 10 will start moving between fields based on the priority setting information, and each work vehicle 10 will start moving between fields at any time (for example, when the operator gives the instruction to start moving). In this way, if it is expected that multiple work vehicles 10 will not cross paths with each other when traveling on road R0, the multiple work vehicles 10 will start traveling on road R0 without setting the order in which they will start traveling on road R0. This allows each work vehicle 10 to move between fields efficiently.

[0108] 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.

[0109] [Automatic driving process] The following describes an example of the automatic driving process performed by the automatic driving system 1, with reference to Figure 11.

[0110] 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. The one or more steps included in the automated driving process described herein may be omitted as appropriate. The execution order of each step in the automated driving process may differ to the extent that similar effects are produced. Moreover, although the description here uses the case where the operation control unit 21 executes each step in the automated driving process as an example, 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.

[0111] <Step S1> In step S1, the operation control unit 21 of the operation terminal 20 determines whether or not it has received a start-drive instruction from the operator. For example, the operator selects a work plan on the operation terminal 20 and issues a start-drive instruction. The work plan includes, for example, work information (such as route data for each work vehicle 10) for working on multiple fields F with multiple work vehicles 10. If the operation control unit 21 receives the start-drive instruction (S1: Yes), it moves the process to step S2. The operation control unit 21 waits until it receives the start-drive instruction (S1: No). Alternatively, the operator may select the field F to be worked on at the operation terminal 20 and issue a start-drive instruction for each work vehicle 10.

[0112] <Step S2> In step S2, the operation control unit 21 causes each work vehicle 10 to start automatic driving and work. Specifically, the operation control unit 21 outputs a start-driving instruction, including route data, to each of the multiple work vehicles 10 included in the work plan. When each work vehicle 10 receives the start-driving instruction, if the automatic driving start conditions are met, it starts automatic driving and work according to the target route R (see Figure 3) set for the field F to be worked on.

[0113] <Step S3> In step S3, the operation control unit 21 determines whether multiple work vehicles 10 are simultaneously in a waiting state in order to move to other fields F. For example, if work vehicle 10A finishes work in field F1 and waits at entrance H1 (see Figure 4) to move to field F2, and work vehicle 10B finishes work in field F3 and waits at entrance H3 (see Figure 5) to move to field F4, then work vehicles 10A and 10B are simultaneously in a waiting state. If the operation control unit 21 determines that multiple work vehicles 10 are simultaneously in a waiting state (S3: Yes), it proceeds to step S4. On the other hand, if the operation control unit 21 determines that multiple work vehicles 10 are not simultaneously in a waiting state (S3: No), it proceeds to step S5. For example, if the number of work vehicles 10 operating simultaneously is small, overlapping standby states are unlikely to occur. However, if the number of work vehicles 10 operating simultaneously increases, overlapping standby states become more likely to occur.

[0114] <Step S4> In step S4, the operation control unit 21 sets the order in which each of the multiple work vehicles 10 that are in a standby state overlapping will start moving between fields. Specifically, the operation control unit 21 sets the order in which each work vehicle 10 will start moving between fields by at least one of the methods described in the first to fifth embodiments above. Based on information such as the actual standby time (first standby time), the standby time expected when multiple work vehicles 10 intersect (second standby time), the priority (or priority) set in advance for each field F, and the priority (or priority) set in advance for each work vehicle 10 (priority setting information), the operation control unit 21 determines the priority of each work vehicle 10 and sets the order in which each work vehicle 10 will start moving between fields based on the determined priority.

[0115] For example, the operation control unit 21 sets a higher priority for work vehicles 10 that have a longer waiting time (first waiting time) while actually waiting at the entrance / exit, and a lower priority for work vehicles 10 that have a shorter waiting time (see "First Embodiment" above).

[0116] For example, when multiple work vehicles 10 are expected to cross paths with each other while traveling on road R0, the operation control unit 21 sets the priority of each work vehicle 10 so that the waiting time (second waiting time) to avoid the crossing is shortened (see "Second Embodiment" above).

[0117] For example, the operation control unit 21 sets the order in which each work vehicle 10 will start moving between fields, based on the priority order set in advance for each field F according to the work content of field F, the area of ​​field F, the operator's operation, etc. (see "Fourth Embodiment" above).

[0118] For example, the operation control unit 21 sets the order in which each of the multiple work vehicles 10 will start moving between fields, based on the work content of the work vehicle 10, the size of the work vehicle 10 (working machine 14), the operator's operation, etc. (see "Fifth Embodiment" above).

[0119] <Step S5> In step S5, the operation control unit 21 initiates inter-field movement for each of the multiple work vehicles 10. For example, as shown in Figure 9, if work vehicles 10A and 10B are expected to cross paths on road R0, the operation control unit 21 initiates inter-field movement for work vehicles 10A and 10B in an order that avoids the crossing of work vehicles 10A and 10B and minimizes waiting time. For example, the operation control unit 21 initiates inter-field movement for work vehicle 10B first, and then initiates inter-field movement for work vehicle 10A when work vehicle 10B has passed the overlapping section of inter-field route R12 and inter-field route R34. The operation control unit 21 may also have work vehicle 10A wait before the overlapping section.

[0120] <Step S6> In step S6, the operation control unit 21 determines whether the work of each work vehicle 10 has been completed. For example, when the operation terminal 20 manages the automatic driving of three work vehicles 10A, 10B, and 10C, the operation control unit 21 determines whether each of the work vehicles 10A, 10B, and 10C has completed its work in the target field F. If the operation control unit 21 determines that the work of all work vehicles 10 has been completed (S6: Yes), it terminates the automatic driving process.

[0121] On the other hand, if the operation control unit 21 determines that the work of each work vehicle 10 has not been completed (S6: No), it moves the process to step S3 and repeats the above process. While each work vehicle 10 is automatically driving, the operation control unit 21 executes a process to set the start order of inter-field movement for each work vehicle 10 (step S4) whenever an overlapping waiting state occurs among multiple work vehicles 10, and causes each work vehicle 10 to move between fields (step S5).

[0122] As described above, the automated driving system 1 according to this embodiment is capable of automatically driving work vehicles 10 on a road R0 connecting multiple fields F. When there are multiple work vehicles 10 that are to start traveling on road R0, the system sets the order in which the multiple work vehicles 10 start traveling on road R0 based on priority setting information. The automated driving system 1 then starts the multiple work vehicles 10 traveling on road R0 (moving between fields) according to the set order.

[0123] The automatic driving system 1 may also present the set order to the operator. In this case, the operator confirms the presented order and issues a driving start command to each work vehicle 10 on the operation terminal 20. For example, if the operation control unit 21 sets the start order of work vehicle 10A to 1st and the start order of work vehicle 10B to 2nd for inter-field movement, for work vehicles 10A and 10B which are both in standby state, the operator selects work vehicle 10A on the operation screen (not shown) and issues a driving start command (presses the start button). The operation control unit 21 outputs a driving start command to work vehicle 10A and starts automatic driving along the inter-field route R12. After work vehicle 10A has started inter-field movement, when work vehicle 10B becomes capable of inter-field movement, the operation control unit 21 allows the selection of work vehicle 10B and the operation of issuing a driving start command on the operation screen. When the operator selects the work vehicle 10B and issues a start command (by pressing the start button), the operation control unit 21 outputs a start command to the work vehicle 10B, causing it to automatically start traveling along the inter-field route R34.

[0124] According to the above configuration, when multiple work vehicles 10 are in a waiting state at the same time while moving between fields, the starting order of each work vehicle 10's movement between fields can be set based on priority setting information, making it possible to move each work vehicle 10 between fields efficiently.

[0125] [Other embodiments] The present invention is not limited to the embodiments described above, and may also be subject to the following embodiments.

[0126] For example, if multiple work vehicles 10 are simultaneously in a waiting state, the operation control unit 21 may calculate the waiting time for each work vehicle 10 for all possible sequence patterns of the multiple work vehicles 10, and set the order in which the multiple work vehicles 10 start traveling on road R0 based on the sequence pattern that minimizes the total waiting time (an example of priority setting information in the present invention).

[0127] For example, if work vehicles 10A, 10B, and 10C are all in standby mode at the same time, the operation control unit 21 calculates the first total standby time, which is the sum of the standby times for work vehicles 10A, 10B, and 10C in the first sequence pattern "1st: work vehicle 10A, 2nd: work vehicle 10B, 3rd: work vehicle 10C", the second total standby time, which is the sum of the standby times for work vehicles 10A, 10B, and 10C in the second sequence pattern "1st: work vehicle 10A, 2nd: work vehicle 10C, 3rd: work vehicle 10B", and the third sequence pattern "1st: work vehicle 10B, 2nd: work vehicle 10A, 3rd: work vehicle 10C". The third total waiting time is calculated by summing the waiting times for each vehicle; the fourth total waiting time is calculated by summing the waiting times for each vehicle 10A, 10B, and 10C in the fourth order pattern "1st place: work vehicle 10B, 2nd place: work vehicle 10C, 3rd place: work vehicle 10A"; the fifth total waiting time is calculated by summing the waiting times for each vehicle 10A, 10B, and 10C in the fifth order pattern "1st place: work vehicle 10C, 2nd place: work vehicle 10A, 3rd place: work vehicle 10B"; and the sixth total waiting time is calculated by summing the waiting times for each vehicle 10A, 10B, and 10C in the sixth order pattern "1st place: work vehicle 10C, 2nd place: work vehicle 10B, 3rd place: work vehicle 10A".

[0128] The operation control unit 21 determines the sequence pattern that results in the shortest total waiting time among the first to sixth total waiting times, and sets the start order of inter-field movement of the work vehicles 10A to 10C based on the determined sequence pattern. In this way, the operation control unit 21 may simulate each sequence pattern to predict the total waiting time and set the start order of inter-field movement based on the predicted total waiting time.

[0129] In another embodiment of the present invention, the operation control unit 21 may set the order in which multiple work vehicles 10 start traveling on road R0 based on information regarding the work status (work progress status) (an example of priority setting information of the present invention). For example, if the work plan corresponding to a work vehicle 10 includes a desired total time (target time) which is the sum of the work time when working in each field F and the travel time when moving between fields, and the current work progress is behind the target time, the operation control unit 21 sets a higher priority for that work vehicle 10. On the other hand, if the current work progress of a work vehicle 10 has ample time compared to the target time, the operation control unit 21 sets a lower priority for that work vehicle 10. In this way, when multiple work vehicles 10 are in a waiting state, the operation control unit 21 may prioritize the work vehicle 10 that is behind schedule and start moving between fields.

[0130] In another embodiment of the present invention, the operation control unit 21 may set the order in which multiple work vehicles 10 start traveling on road R0 based on information about the end time of the work (target work end time) (an example of priority setting information of the present invention). For example, if the work plan corresponding to a work vehicle 10 includes a desired time (target work end time) for the work vehicle 10 to complete work on all fields F that are the target of work, the operation control unit 21 sets a higher priority for work vehicles 10 with an earlier target work end time and a lower priority for work vehicles 10 with a later target work end time. In this way, when multiple work vehicles 10 are in a standby state at the same time, the operation control unit 21 may prioritize the work vehicle 10 with the earlier target work end time and start moving between fields.

[0131] In another embodiment of the present invention, the operation control unit 21 may receive an operation from the operator to select priority setting information for which weights are to be set from among the priority setting information described above. The priority setting information includes, for example, actual waiting time (first waiting time), expected waiting time when multiple work vehicles 10 intersect (second waiting time), priority set in advance for each field F, priority set in advance for each work vehicle 10, sequence pattern that minimizes the total waiting time, work status (work progress), and work completion time. The operator selects one or more of these priority setting pieces of information. The operation control unit 21 may weight the priority setting information selected by the operator to set the order in which inter-field movement will begin.

[0132] In the above-described embodiment, an operating terminal 20 manages multiple work vehicles 10 in the automated driving system 1. However, in another embodiment of the present invention, the automated driving system 1 may be managed by a server (e.g., a cloud server). For example, as shown in Figure 12, the server 30 may be configured to communicate data with multiple work vehicles 10 via a communication network N1. In this case, one operating terminal 20 may be provided for each work vehicle 10 (see Figure 12), or fewer operating terminals 20 may be provided than the number of work vehicles 10.

[0133] In the embodiment shown in Figure 12, when multiple work vehicles 10 are simultaneously in a waiting state, the server 30 sets the order in which the multiple work vehicles 10 will start traveling on road R0 based on priority setting information. Specifically, the server 30 acquires the travel status of each work vehicle 10, and when multiple work vehicles 10 are simultaneously in a waiting state, it sets the start order for inter-field movement of each work vehicle 10 and outputs a start command to each work vehicle 10 according to the set start order.

[0134] The server 30 may also output and display the configured start order information to the operation terminal 20. In this case, when the operation terminal 20 receives an operation from the operator to start driving the work vehicle 10, it outputs a start-driving instruction to the work vehicle 10.

[0135] The automated driving system of the present invention may consist of an operating terminal 20 alone, or a server 30 alone, or it may consist of an operating terminal 20 or a server 30 and a work vehicle 10.

[0136] [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.

[0137] <Note 1> An automated driving method for automatically driving a work vehicle on a connecting path that connects multiple work areas, An automatic driving method for setting the order in which multiple work vehicles start driving along the connecting path, based on priority setting information, when there are multiple work vehicles that start driving along the connecting path.

[0138] <Note 2> The process involves starting multiple work vehicles to travel along the connecting path in the specified order. The automatic driving method described in Appendix 1.

[0139] <Note 3> Present the set order to the user. The automatic driving method described in Appendix 1.

[0140] <Note 4> When starting to travel along the aforementioned connecting path, the work vehicle is made to wait at a predetermined position in the work area. The priority setting information includes a first waiting time during which the work vehicle waits at the predetermined location. The automatic driving method described in any of the appendices 1 to 3.

[0141] <Note 5> When starting to travel along the aforementioned connecting path, the work vehicle is made to wait at a predetermined position in the work area. The priority setting information includes a second waiting time during which, when multiple work vehicles are expected to cross paths with each other while traveling along the connecting path, the work vehicles are made to wait at the predetermined location in order to avoid such crossing. The automatic driving method described in any of the appendices 1 to 4.

[0142] <Note 6> The priority setting information includes priority information that has been pre-set for each of the multiple work areas. The automatic driving method described in any of the appendices 1 to 5.

[0143] <Note 7> The aforementioned priority setting information includes priority information pre-set for each of the multiple work vehicles. The automatic driving method described in any of the appendices 1 to 6.

[0144] <Note 8> The priority setting information includes the work progress status of each of the multiple work vehicles, or the target work completion time for each of the multiple work areas. The automatic driving method described in any of the appendices 1 to 7.

[0145] <Note 9> When multiple work vehicles are expected to cross paths with each other while traveling along the connecting road, the order in which the multiple work vehicles begin traveling along the connecting road is set based on the priority setting information. The automatic driving method described in any of the appendices 1 to 8.

[0146] <Note 10> When it is expected that multiple work vehicles will not cross paths with each other while traveling along the connecting path, the system will allow the multiple work vehicles to start traveling along the connecting path without setting an order in which they begin traveling along the connecting path. The automatic driving method described in Appendix 9.

[0147] <Note 11> An automated driving program for automatically driving a work vehicle on a connecting path that connects multiple work areas, An automated driving program that causes one or more processors to perform the action of setting the order in which multiple work vehicles start traveling along the connecting road, based on priority setting information, when there are multiple work vehicles that start traveling along the connecting road.

[0148] <Note 12> An automated driving system that automatically drives a work vehicle on a connecting path that connects multiple work areas, An automated driving system comprising a setting processing unit that, when there are multiple work vehicles that start to travel along the connecting road, sets the order in which the multiple work vehicles start to travel along the connecting road based on priority setting information. [Explanation of symbols]

[0149] 1: Automated driving system 10: Work vehicles 11: Vehicle control system 20: Operating terminal 21: Operation Control Unit 30: Server 111: Driving section 211: Driving setting processing unit 212: Output Processing Unit 213: Sequence setting processing unit F: Field (work area) R: Target path R0: Road (connecting road) R12: Inter-field route R34: Inter-field route R43: Inter-field route R56: Inter-field route H1~H6: (Field) entrance / exit (designated location)

Claims

1. An automated driving method for automatically driving a work vehicle on a connecting path that connects multiple work areas, An automatic driving method for setting the order in which multiple work vehicles start driving along the connecting path, based on priority setting information, when there are multiple work vehicles that start driving along the connecting path.

2. The process involves starting multiple work vehicles to travel along the connecting path in the specified order. The automatic driving method according to claim 1.

3. Present the set order to the user. The automatic driving method according to claim 1.

4. When starting to travel along the aforementioned connecting path, the work vehicle is made to wait at a predetermined position in the work area. The priority setting information includes a first waiting time during which the work vehicle waits at the predetermined location. The automatic driving method according to claim 1.

5. When starting to travel along the aforementioned connecting path, the work vehicle is made to wait at a predetermined position in the work area. The priority setting information includes a second waiting time during which, when multiple work vehicles are expected to cross paths with each other while traveling along the connecting path, the work vehicles are made to wait at the predetermined location in order to avoid such crossing. The automatic driving method according to claim 1.

6. The priority setting information includes priority information that has been pre-set for each of the multiple work areas. The automatic driving method according to claim 1.

7. The aforementioned priority setting information includes priority information pre-set for each of the multiple work vehicles. The automatic driving method according to claim 1.

8. The priority setting information includes the work progress status of each of the multiple work vehicles, or the target work completion time for each of the multiple work areas. The automatic driving method according to claim 1.

9. When multiple work vehicles are expected to cross paths with each other while traveling along the connecting road, the order in which the multiple work vehicles begin traveling along the connecting road is set based on the priority setting information. An automatic driving method according to any one of claims 1 to 8.

10. When it is expected that multiple work vehicles will not cross paths with each other while traveling along the connecting path, the system will allow the multiple work vehicles to start traveling along the connecting path without setting an order in which they begin traveling along the connecting path. The automatic driving method according to claim 9.

11. An automated driving program for automatically driving a work vehicle on a connecting path that connects multiple work areas, An automated driving program that causes one or more processors to perform the action of setting the order in which multiple work vehicles start traveling along the connecting road, based on priority setting information, when there are multiple work vehicles that start traveling along the connecting road.

12. An automated driving system that automatically drives a work vehicle on a connecting path that connects multiple work areas, An automated driving system comprising a setting processing unit that, when there are multiple work vehicles that start to travel along the connecting road, sets the order in which the multiple work vehicles start to travel along the connecting road based on priority setting information.

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