Automated driving assistance system

Abstract

The system efficiently automates the operation of work vehicles while avoiding collisions with obstacles. [Solution] An automatic driving support system for a work vehicle having a running gear for moving the vehicle body and capable of being fitted with work equipment for performing work comprises an input device for inputting vehicle information relating to at least one of the vehicle body and work equipment and the running gear, and area information relating to a target point and obstacles in a predetermined area, and an information processing device. The information processing device performs a first collision prediction, which predicts the possibility of the running gear colliding with an obstacle when the work vehicle is traveling through the area toward a target point, and a second collision prediction, which predicts the possibility of at least one of the vehicle body and work equipment colliding with an obstacle, based on the vehicle information and the area information. Based on the first and second collision predictions, the system plans a driving path for the work vehicle that avoids collisions of the running gear, vehicle body, and work equipment fitted to the vehicle body with obstacles.

Description

Technical Field

[0001] The present invention relates to an automatic driving support system that supports automatic driving while avoiding collisions between a work vehicle and obstacles.

Background Art

[0002] As a system for supporting automatic driving (autonomous driving) of a work vehicle, for example, a system disclosed in Patent Document 1 is known. In the system disclosed in Patent Document 1, the distance to an object existing on the side of a work device mounted on the work vehicle is measured by a distance measuring sensor, and the detection result of the distance measuring sensor is displayed on a terminal device. Further, when the work vehicle is traveling in a field based on a planned travel route, control is executed to travel so that the distance to a ridge measured by the distance measuring sensor does not become less than a predetermined distance, prioritizing control to travel along the planned travel route. Further, the management terminal calculates the travel route of the work vehicle from the installation position of the management terminal through the management passage to the entrance / exit of the field based on the management passage and the terrain information of the field within the management area stored in the database.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is a desire to efficiently automatically drive a work vehicle toward a target point such as a field. Therefore, it is necessary to avoid collisions between the work vehicle and obstacles. However, if, after the work vehicle detects an obstacle with a sensor or the like, predetermined operations such as steering, decelerating, and stopping to avoid a collision with the obstacle are suddenly executed, the efficiency of automatic driving decreases. In particular, when the frequency of sudden execution of the predetermined operation increases, the efficiency of automatic driving of the work vehicle significantly decreases.

[0005] In view of the above problems, the present invention aims to enable a work vehicle to automatically and efficiently travel toward a target location. [Means for solving the problem]

[0006] An automated driving support system according to one aspect of the present invention is an automated driving support system that supports the automated driving of a work vehicle having a driving device for moving a vehicle body and capable of being equipped with a work device for performing work, comprising: an input device for inputting vehicle information relating to at least one of the vehicle body and the work device and the driving device, and area information relating to a target point and obstacles in a predetermined area, and an information processing device, wherein the information processing device performs a first collision prediction that predicts the possibility of the driving device colliding with an obstacle when the work vehicle is traveling through the area toward the target point, and a second collision prediction that predicts the possibility of at least one of the vehicle body and the work device colliding with an obstacle, based on the vehicle information and the area information, and plans a driving path for the work vehicle that avoids collisions of the driving device, the vehicle body and the work device mounted on the vehicle body with the obstacle, based on the first collision prediction and the second collision prediction. [Effects of the Invention]

[0007] According to the present invention, it is possible to efficiently automate the operation of a work vehicle while avoiding collisions with obstacles. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of an example of an automated driving assistance system. [Figure 2] This is a side view of an example of a work vehicle. [Figure 3] This is a block diagram showing an example of the electrical configuration of work vehicle 1. [Figure 4] This diagram illustrates an example of collision prediction and path planning processes. [Figure 5] This figure shows an example of a model of a running gear. [Figure 6] This figure shows an example of a model of a vehicle body and work equipment. [Figure 7] This is a diagram illustrating an example of path planning processing. [Figure 8] This is a diagram illustrating an example of path planning processing. [Figure 9] This is a diagram illustrating an example of route tracking processing. [Figure 10] This is a diagram illustrating an example of route tracking processing. [Figure 11A] A flowchart illustrating an example of how an automated driving assistance system works. [Figure 11B] A flowchart illustrating an example of how an automated driving assistance system works. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings. For convenience, identical components and corresponding components are denoted by the same reference numerals.

[0010] Figure 1 is a schematic diagram of an example of an automated driving support system 100. The automated driving support system 100 is a system that supports the automated driving (autonomous driving) of a work vehicle 1. The automated driving support system 100 is equipped with a work vehicle 1, a management server 20, and a terminal device 30. In Figure 1, one work vehicle 1, one management server 20, and one terminal device 30 are shown, but the number of work vehicles 1, management servers 20, and terminal devices 30 equipped in the automated driving support system 100 may be one or two or more.

[0011] The work vehicle 1 consists of agricultural machinery (also called autonomous agricultural machinery) that can drive and perform tasks autonomously. In this embodiment, the work vehicle 1 consists of a tractor, which is an example of agricultural machinery that performs farm work in a field. The work vehicle 1 may also consist of agricultural machinery other than a tractor, construction machinery, or work machinery that performs tasks while driving outside of a field.

[0012] The work vehicle 1 is equipped with an information processing device (computer) 11, a vehicle control device 12, and an input device 13. The vehicle control device 12 is composed of an ECU (electronic control unit) equipped with a processor and a memory. The vehicle control device 12 is a controller that controls the operations of each part of the work vehicle 1. The input device 13 is an input interface for inputting information to the work vehicle 1 and the automatic driving support system 100. The input device 13 includes a user interface 13a and a communication device (communication interface) 13b. Various information can be input and output through the user interface 13a. The communication device 13b includes a communication circuit for wireless communication.

[0013] The management server 20 is a server or computer provided in a management center or a cloud system. The management server 20 is equipped with a processor, a memory, a storage device (storage device) 21 with a larger capacity than the memory, and a communication device 23. A database 22 is constructed in the storage device 21. Various information is stored in the database 22. The management server 20 can communicate with the information processing device 11, the vehicle control device 12, and the terminal device 30 through a wide area network such as a mobile phone communication network and the Internet by means of the communication device 23. The management server 20 is an input device capable of inputting information to the work vehicle 1.

[0014] The terminal device 30 is a computer used by the administrator of the automatic driving support system 100 or other users. The terminal device 30 is equipped with a processor, a memory, a user interface 32, and a communication device 33. Various information can be input and output through the user interface 32. The terminal device 30 can communicate with the management server 20, the information processing device 11, and the vehicle control device 12 through a wide area network by means of the communication device 33. The terminal device 30 is an input device capable of inputting information to the management server 20, the work vehicle 1, and the automatic driving support system 100.

[0015] The information processing device 11 and the vehicle control device 12 of the work vehicle 1 can communicate with the management server 20 and the terminal device 30 via a wide area network by means of the communication device 13b. As another example, the information processing device 11 and the vehicle control device 12 may communicate with the management server 20 and the terminal device 30 via a narrow area network such as a wireless LAN by means of the communication device 13b.

[0016] FIG. 2 is a side view of an example of the work vehicle 1. The direction indicated by arrow A1 in FIG. 2 is the front of the work vehicle 1. The direction indicated by arrow A2 is the rear of the work vehicle 1. The direction indicated by arrow Z1 is the upper side of the work vehicle 1. The direction indicated by arrow Z2 is the lower side of the work vehicle 1. And the direction perpendicular to arrows A1, A2, Z1, and Z2 is the width direction (left-right direction) of the work vehicle 1. The front side toward FIG. 2 is the left side of the work vehicle 1, and the back side is the right side of the work vehicle 1.

[0017] The work vehicle 1 includes a vehicle body 3, a prime mover 4, a traveling device 5, a transmission 6, a braking device 7, and a steering device 8. The traveling device 5 is provided on the left and right parts of the vehicle body 3 respectively. The traveling device 5 supports the vehicle body 3 and causes the vehicle body 3 to travel. In the present embodiment, the traveling device 5 is a wheel-mounted traveling device having front wheels 5F and rear wheels 5R. In addition to this, the traveling device 5 may be a crawler-type traveling device or a composite-type traveling device having wheels and crawlers. That is, the traveling device 5 has at least either wheels or crawlers and is a device that causes the vehicle body 3 to travel.

[0018] The prime mover 4, the transmission 6, and the steering device 8 are mounted on the vehicle body 3. The prime mover 4 is composed of an engine (diesel engine, gasoline engine) or an electric motor, etc. The transmission 6 is composed of an HST (Hydro Static Transmission) or an HMT (Hydro Mechanical Transmission). The transmission 6 varies the propulsion force of the traveling device 5 by performing a speed change operation and switches the forward and reverse of the traveling device 5. The braking device 7 brakes the traveling device 5. The steering device 8 steers the vehicle body 3 by changing the direction of the front wheels 5F.

[0019] A cabin 10 is mounted on top of the vehicle body 3. The cabin 10 is equipped with a driver's seat 14 and a steering wheel 8a. The steering wheel 8a is included in the steering system 8. The cabin 10 is also equipped with operating devices such as levers, pedals, and switches for driving and operating the work vehicle 1. The work vehicle 1 is a tractor capable of unmanned automatic driving and work, but it can also be manually driven by an operator seated in the driver's seat 14 operating the operating devices.

[0020] A bonnet 15 is provided on the front side of the cabin 10. The bonnet 15 is attached to the vehicle body 3. A storage room (not shown) is formed between the bonnet 15 and the vehicle body 3. This storage room houses not only the prime mover 4, but also a cooling fan, radiator, battery, etc. (not shown).

[0021] A coupling device 9 is provided at the rear of the vehicle body 3. The coupling device 9 is composed of, for example, a three-point linkage mechanism, but may also be composed of other coupling devices such as a drawbar. A work device 2 is detachably attached to the coupling device 9. That is, the work device 2 is mounted at the rear of the vehicle body 3 via the coupling device 9. By connecting the work device 2 to the coupling device 9 and driving the running gear 5, the work vehicle 1 (vehicle body 3) can be driven, and the work device 2 can be moved. The coupling device 9 can also be used to raise and lower the work device 2, or to change the posture (vertical position and orientation) of the work device 2.

[0022] The work apparatus 2 consists of a tilling apparatus for tilling, a fertilizer spreading apparatus for spreading fertilizer, a pesticide spreading apparatus for spraying pesticides, a harvesting apparatus for harvesting, a mowing apparatus for cutting pasture grass, a spreading apparatus for spreading pasture grass, a grass collecting apparatus for collecting pasture grass, a shaping apparatus for shaping pasture grass, and the like.

[0023] The work devices 2 that can be used with the work vehicle 1 include work devices 2 that are wider than the width of the work vehicle 1 (vehicle body 3), towable work devices 2 with wheels, and mounted work devices 2 that are supported by the work vehicle 1 via a coupling device 9. The mounted work devices 2 include work devices 2 that perform work while on the ground and work devices 2 that perform work while not on the ground. When a work device 2 that performs work while on the ground is connected to the coupling device 9, when the work vehicle 1 is performing work, the work device 2 is lowered by the coupling device 9 and set to a grounded position, and when the work vehicle 1 is driving without performing work, the work device 2 is raised by the coupling device 9 and set to a non-grounded position (a position somewhat high above the ground).

[0024] Figure 3 is a block diagram showing an example of the electrical configuration of the work vehicle 1. In addition to the configuration described above, the work vehicle 1 is equipped with a position detection device 13c, a sensing device 13d, a sensor unit 16, an operation unit 17, and a storage device 18. The position detection device 13c and the sensing device 13d are included in the input device 13, along with the user interface 13a and the communication device 13b.

[0025] The information processing device 11, vehicle control device 12, input device 13, sensor unit 16, and storage device 18 are electrically connected by an in-vehicle network such as CAN, LIN, or FlexRay, which is built into the work vehicle 1. The operation unit 17 is connected to the vehicle control device 12.

[0026] The internal memory of the information processing device 11 and the vehicle control device 12 includes volatile memory and non-volatile memory. The storage device 18 is composed of a memory drive such as an SSD (Solid State Drive). Various information, data, and software programs for automatically driving the work vehicle 1 are stored in these internal memories and storage device 18. The information processing device 11 and the vehicle control device 12 also store information in the internal memory or storage device 18 as appropriate.

[0027] The user interface 13a is, for example, a touch panel or tablet-type terminal device (computer) with a display. The user interface 13a is installed near the driver's seat 14 inside the cabin 10 (Figure 2). The information processing device 11 and the vehicle control device 12 output (display) various information about the work vehicle 1 stored in their internal memory via the user interface 13a. The driver of the work vehicle 1 and others also input various information via the user interface 13a. The user interface 13a is both an input device and an output device (output interface).

[0028] The communication device 13b includes not only a communication circuit for wirelessly communicating with the management server 20 and the terminal device 30, but also an interface for communicating with the information processing device 11 and the vehicle control device 12 via the vehicle network of the work vehicle 1. The communication device 13b is both an input device and an output device.

[0029] The position detection device 13c consists of a positioning device including a GNSS receiver. The position detection device 13c uses a satellite positioning system to detect its own position (positioning information including latitude and longitude). Specifically, the position detection device 13c receives signals transmitted from positioning satellites (position of the positioning satellite, transmission time, correction information, etc.) and detects its own position based on these signals. The position detection device 13c may also detect a position corrected based on correction signals from a base station (reference station) capable of receiving signals from positioning satellites as its own position.

[0030] Furthermore, the position detection device 13c may have inertial measuring devices (inertial sensors) such as a gyro sensor and an acceleration sensor. In this case, the position detection device 13c may correct the position (latitude, longitude) detected based on the signal received from the positioning satellite using the inertial measuring devices, and detect the corrected position as its own position.

[0031] The information processing device 11 and the vehicle control device 12 consider the position detected by the position detection device 13c to be the position of the vehicle body 3 of the work vehicle 1. That is, the position detection device 13c detects the position of the vehicle body 3 (work vehicle 1). Furthermore, the information processing device 11 and the vehicle control device 12 calculate the positions of the vehicle body 3, the running gear 5, and the work equipment 2, respectively, based on the position detected by the position detection device 13c and pre-stored information (external shape information) indicating the size of the vehicle body 3, the running gear 5, and the work equipment 2 of the work vehicle 1.

[0032] The sensing device 13d includes a laser sensor, an ultrasonic sensor, and a camera (imaging device). The laser sensor, ultrasonic sensor, and camera are installed at appropriate locations such as the front, rear, left and right sides, top, and bottom of the work vehicle 1 to detect the conditions around the work vehicle 1 and the work device 2. At least one of the laser sensor, ultrasonic sensor, and camera may be included in the sensing device 13d. In addition, detection means such as other sensors may be included in the sensing device 13d.

[0033] The sensing device 13d senses within a predetermined first distance range from the work vehicle 1 using a laser sensor, an ultrasonic sensor, and a camera. Specifically, the sensing device 13d detects objects, including obstacles and non-obstacle objects, that exist within the range. The sensing device 13d also calculates the distance to the object from the detection results of the laser sensor and ultrasonic sensor. Obstacles are tangible or intangible objects that hinder the movement of the work vehicle 1. Obstacles include predetermined natural objects, artificial objects, ditches, depressions, people, animals, etc., that occupy space. Areas such as ground and fields where the work vehicle 1 is prohibited from driving are also included as obstacles. Areas such as ground and fields where the work vehicle 1 is permitted to drive do not necessarily have to be included as obstacles, but information indicating such areas may be included in the area information.

[0034] The sensor unit 16 includes various sensors installed on various parts of the work vehicle 1 and the work device 2. The information processing device 11 and the vehicle control device 12 determine the operating status of the work vehicle 1 and the work device 2 based on the output signals from the various sensors of the sensor unit 16. The operating status of the work vehicle 1 determined by the information processing device 11 and the vehicle control device 12 includes the driving and stopping status of each part of the work vehicle 1, the direction of travel, travel speed, acceleration, and posture (pitch angle, roll angle, yaw angle (direction, orientation)) of the work vehicle 1 (vehicle body 3). The operating status of the work device 2 includes the driving and stopping status and posture (at least the vertical position) of each part of the work device 2.

[0035] As another example, the information processing device 11 and the vehicle control device 12 may detect the position of the vehicle body 3 at predetermined intervals using the position detection device 13c, and based on the time-series data of the position of the vehicle body 3, detect (calculate) the direction of travel, travel speed, acceleration, and posture of the work vehicle 1 (vehicle body 3). Alternatively, the information processing device 11 and the vehicle control device 12 may detect the direction of travel, travel speed, acceleration, and posture of the work vehicle 1 from the measurement results of the inertial measuring device of the position detection device 13c. Alternatively, the work vehicle 1 may be provided with a rotation speed sensor that detects the rotation speed of the wheels 5F, 5R of the running gear 5, or the rotation speed and direction of rotation of the running motor that rotates the wheels 5F, 5R. Then, the information processing device 11 and the vehicle control device 12 may detect the direction of travel, travel speed, and acceleration of the work vehicle 1 based on the output signal of the rotation speed sensor.

[0036] The operation unit 17 includes multiple operating devices, multiple drive circuits, and multiple actuators for operating the prime mover 4, running gear 5, transmission 6, braking gear 7, steering gear 8, and coupling gear 9, respectively. The multiple operating devices include multiple operating members operated by the driver of the work vehicle 1, and multiple sensors for detecting at least one of the operation status, direction of operation, and amount of operation of the multiple operating members.

[0037] Each of the multiple actuators in the operation unit 17 is a hydraulic actuator, such as a hydraulic motor and a hydraulic cylinder. To operate these multiple hydraulic actuators, the operation unit 17 includes a hydraulic circuit (drive circuit), which includes a hydraulic pump, a hydraulic motor, a hydraulic pilot-operated valve, and an electromagnetic control valve.

[0038] As another example, at least one of the multiple actuators of the operation unit 17 may be an electric actuator such as a servo motor and a servo cylinder. The operation unit 17 includes an electrical circuit (drive circuit) to operate the electric actuator, and this electrical circuit may include semiconductor elements.

[0039] The vehicle control device 12 drives or operates the corresponding prime mover 4, running gear 5, transmission 6, braking system 7, steering system 8, and coupling device 9 by operating multiple actuators included in the operation unit 17. The vehicle control device 12 also controls the operation of the prime mover 4, running gear 5, transmission 6, braking system 7, and steering system 8 via the operation unit 17 to drive the work vehicle 1, and controls the driving (driving speed and steering) to perform automatic driving of the work vehicle 1. In other words, the vehicle control device 12 controls the operation of the prime mover 4, running gear 5, transmission 6, braking system 7, and steering system 8 via the operation unit 17 to perform automatic driving that automatically controls the start and stop of the work vehicle 1, changes in driving speed, and steering. The vehicle control device 12 also raises and lowers the work device 2 connected to the coupling device 9 by operating the coupling device 9 with the corresponding actuator.

[0040] The storage device 18 of the work vehicle 1 stores vehicle information related to the work vehicle 1. The vehicle information includes identification information for the work vehicle 1 and information about the vehicle body 3, the running gear 5, and the work device 2. Specifically, the identification information for the work vehicle 1 is, for example, the model number of the work vehicle 1. The information about the vehicle body 3 and the running gear 5 includes information indicating the size (external dimensions) of the vehicle body 3, the type and size of the running gear 5, the relative position of the running gear 5 to the vehicle body 3, and the height (vertical position) of the vehicle body 3 from the bottom surface of the running gear 5. The information indicating the size of the running gear 5 includes the height of the running gear 5, i.e., the height from the bottom surface of the running gear 5.

[0041] The types of running gear 5 include wheeled running gear where the landing part is wheels, tracked running gear where the landing part is tracks, and combined running gear where the landing part is both wheels and tracks. If the type of running gear 5 is wheeled or combined, the information indicating the size of the running gear 5 includes the width and diameter of the wheels and the tread width of the pair of left and right wheels. If the type of running gear 5 is tracked or combined, the information indicating the size of the running gear 5 includes the size of the tracks in the three orthogonal axes and the distance between the pair of left and right tracks.

[0042] The information regarding the work device 2 included in the vehicle information contains multiple device information entries set for each of the multiple work devices 2 available on the work vehicle 1. Each of the multiple device information entries includes information indicating the type and size (external dimensions) of the work device 2, the relative position of the work device 2 with respect to the vehicle body 3, and the height of the work device 2 from the bottom surface of the running gear 5.

[0043] Furthermore, information relating to at least one of the above-mentioned components, namely the vehicle body 3 and the work device 2, may be included in the vehicle information. Specifically, the dimensions of at least one of the vehicle body 3 and the work device 2, and the height from the bottom of the running gear 5, may be included in the vehicle information. Also, for example, if the work device 2 is not mounted on the vehicle body 3, the relative position of the work device 2 with respect to the vehicle body 3 does not need to be included in the vehicle information.

[0044] Alternatively, for example, an operator may directly input vehicle information via the user interface 13a. Or, an operator may input vehicle information via the user interface 32 of the terminal device 30, and then input the vehicle information from the terminal device 30 to the in-vehicle network of the work vehicle 1 via wireless, wired, or storage medium. The information processing device 11 may then store the vehicle information input in this manner in the storage device 18. Alternatively, the information processing device 11 may transmit the input vehicle information to the management server 20 via the communication device 13b, and the management server 20 may receive the vehicle information and store it in the database 22.

[0045] Alternatively, the terminal device 30 may transmit vehicle information to the management server 20 via the communication device 33 using the user interface 32, and the management server 20 may receive the vehicle information via the communication device 23 and store it in the database 22. The information processing device 11 may then communicate with the management server 20 via the communication device 23 to receive (acquire) vehicle information corresponding to the work vehicle 1 via the communication device 23 and store the vehicle information in the storage device 18.

[0046] Furthermore, after any of the work devices 2 are connected to the coupling device 9 of the work vehicle 1, the operator may input information indicating the connected work device 2 via the user interface 13a. The information processing device 11 may then select device information corresponding to the input information from the vehicle information stored in the storage device 18.

[0047] Alternatively, if the work device 2 is equipped with an electronic control unit including a CPU and memory, the electronic control unit may be connected wirelessly or via a wired connection to the in-vehicle network of the work vehicle 1, and identification information of the work device 2 may be input from the electronic control unit to the in-vehicle network. The information processing unit 11 may then select device information corresponding to the input identification information from the vehicle information stored in the storage device 18. Alternatively, the device information of the work device 2 may be input from the electronic control unit to the in-vehicle network, and the information processing unit 11 may select the device information and store it in the storage device 18.

[0048] The storage device 18 of the work vehicle 1 also stores one or more area information items relating to one or more predetermined areas (regions) on which the work vehicle 1 travels. The area information includes map information of the predetermined area, and this map information includes information about target points, pathways, obstacles, etc. (and other objects) that exist in the predetermined area. The information about target points includes information indicating the location (coordinates) of the target points set in the predetermined area. The information about pathways includes information indicating the location, size (length, width), and gradient of pathways such as paved roads and unpaved farm roads that exist in the predetermined area. The information about obstacles includes information indicating the type, size, location, and height of obstacles from the ground that exist in the predetermined area.

[0049] Furthermore, information regarding obstacles may be extracted by at least one of the operator, computer, and AI (artificial intelligence) from sensing results such as images captured by the sensing device 13d when the work vehicle 1 or the like previously traveled through a predetermined area. Alternatively, at least one of the operator, computer, and AI (artificial intelligence) may extract the above-mentioned information regarding obstacles from an application program that handles information such as the terrain and maps of the predetermined area.

[0050] Area information may, for example, be generated by terminal device 30, stored in database 22 of management server 20, acquired by communication device 13b, and stored in storage device 18 by information processing device 11.

[0051] For example, map information for multiple areas is stored in the database 22 of the management server 20. The operator specifies an area by inputting information indicating the desired area via the user interface 32 of the terminal device 30. The terminal device 30 then communicates with the management server 20 via the communication device 33 to obtain (receive) map information corresponding to that information from the database 22 via the management server 20, and outputs (displays) the obtained map information via the user interface 32. As a result, the map of the desired area is displayed on the display of the user interface 32, and objects representing known paths and obstacles are displayed on the map.

[0052] If the operator does not see an object representing a new passage or obstacle that they are aware of on the area map displayed by the user interface 32, the operator inputs information about the new passage or obstacle on the user interface 32. Based on the input information, the terminal device 30 displays an object representing the new passage or obstacle on the area map displayed on the user interface 32. The operator also sets (inputs) the target point that the work vehicle 1 is heading to on the displayed area map using the user interface 32. The terminal device 30 displays an object representing the set target point on the area map using the user interface 32.

[0053] Then, when the operator performs a predetermined confirmation operation via the user interface 32, the terminal device 30 adds information about new passages or obstacles and information about target locations to the area map information, generates area information including the map information, and transmits the area information to the management server 20 via the communication device 33. The management server 20 stores the area information received from the terminal device 30 in the database 22. After this, the area information may be updated in the terminal device 30 using the same procedure as described above, and the updated area information may be stored in the database 22.

[0054] In the work vehicle 1, when the operator inputs information indicating the desired area via the user interface 13a to specify the area, the information processing device 11 communicates with the management server 20 via the communication device 13b to obtain (receive) area information corresponding to the desired area from the management server 20, and stores the obtained area information in the storage device 18.

[0055] As another example, area information may be input from the terminal device 30 to the in-vehicle network of the work vehicle 1 wirelessly, via wired, or via a storage medium, without going through the management server 20, and the information processing device 11 may store the area information in the storage device 18. Alternatively, the operator may obtain map information of a desired area from the database 22 using the user interface 13a, information processing device 11, and communication device 13b of the work vehicle 1. The operator may then generate area information using the user interface 13a, information processing device 11, and communication device 13b, store the area information in the storage device 18, and also store it in the database 22. Furthermore, the operator may input information indicating the target location from the information included in the area information using the user interface 13a of the work vehicle 1.

[0056] Furthermore, the area information may include identification information for the device that generated the area information, identification information for the device to which the area information was updated, and time information such as a timestamp indicating the date and time the area information was generated and the date and time it was updated.

[0057] Furthermore, the area information may include information indicating the planned route of the work vehicle 1 heading towards the target location. For example, the information processing device 11 may plan the planned route based on the area information and include information indicating the planned route in the area information. Alternatively, the terminal device 30 may plan the planned route based on the area information and include information indicating the planned route in the area information, or the information processing device 11 may receive the information indicating the planned route planned by the terminal device 30 and add it to the area information stored in the storage device 18. Alternatively, the operator may plan the planned route and input information indicating the planned route using either the user interface 32 of the terminal device 30 or the user interface 13a of the work vehicle 1. Then, either the terminal device 30 or the information processing device 11 may include the input information indicating the planned route in the area information.

[0058] When planning a route, for example, a vehicle model, showing a plan view of the work vehicle 1 and the work device 2 mounted on it, is placed on a map of the area, and a route is created so that the vehicle model moves toward the target point while avoiding collisions with obstacles according to predetermined conditions. The predetermined conditions include minimizing at least one of the time and distance to reach the target point. In addition, the predetermined conditions may also include, for example, that the work vehicle 1 travels only in areas where it is permitted to travel. The areas where the work vehicle 1 is permitted to travel are predetermined locations and include not only the paths shown on the area map information, but also land other than paths.

[0059] The starting point of the planned route may be the current position of the work vehicle 1 (vehicle body 3) detected by the position detection device 13c, or it may be a pre-set home position such as the work vehicle 1's garage. The ending point of the planned route is the target point, which is, for example, a field where work is performed by the work vehicle 1. In this embodiment, the predetermined area is an area that includes fields and areas other than fields. The planned route is a route that the work vehicle 1 takes to the target point by traveling through areas other than fields in the area without performing work with the work device 2. The same applies to other routes described later.

[0060] The operator specifies an area by inputting information indicating the desired area via the user interface 13a. The information processing device 11 and the vehicle control device 12 then read the area information and vehicle information corresponding to the input information from the storage device 18, and the information processing device 11 displays a map of the area, showing the target point and the planned route to the target point, via the user interface 13a, based on the area information.

[0061] The operator views a map of the area and performs a predetermined start operation to automatically drive the work vehicle 1 toward the target point using at least one of the user interface 13a and the operating device of the operation unit 17. As a result, the vehicle control device 12 starts the automatic driving of the work vehicle 1 based on the planned route.

[0062] More specifically, the vehicle control device 12, based on the planned route and the vehicle body 3 (work vehicle 1) detected by the position detection device 13c, controls the operation of the prime mover 4, running gear 5, transmission 6, braking gear 7, and steering gear 8 via the operation unit 17 to drive the work vehicle 1. In other words, the vehicle control device 12 controls the movement of the work vehicle 1 (driving speed, steering, etc.) to move along the planned route, and performs automatic driving. The vehicle control device 12 also refers to vehicle information and the sensing results of the sensing device 13d, and performs automatic driving based on this information, controlling the driving, stopping, driving speed, and steering of the work vehicle 1 to avoid collisions with obstacles detected by the sensing device 13d.

[0063] Furthermore, when a desired area is specified by the user interface 13a and a map of that area is displayed by the user interface 13a, the operator may set a target point on the map of the area using the user interface 13a. The information processing device 11 may then create (plan) a route from the current position of the vehicle 3 to the target point.

[0064] As described above, the operator specifies a desired area and performs a predetermined driving start operation. Based on this, the information processing device 11 predicts the possibility of the driving device 5 colliding with an obstacle and the possibility of at least one of the vehicle body 3 and the working device 2 colliding with an obstacle as the work vehicle 1 travels toward the target point, based on vehicle information and area information. Furthermore, based on this prediction, the information processing device 11 plans (creates) a driving path for the work vehicle 1 that avoids collisions of the driving device 5, vehicle body 3, and working device 2 with the obstacle, and outputs information indicating the driving path to the vehicle control device 12.

[0065] When the vehicle control device 12 receives a travel route output from the information processing device 11, it controls the movement of the work vehicle 1 based on the travel route instead of the planned route, thereby executing automatic driving. Specifically, based on the travel route and the position of the vehicle body 3 (vehicle information, sensing results from the sensing device 13d), the vehicle control device 12 controls the movement of the work vehicle 1 using the operation unit 17, prime mover 4, running gear 5, transmission 6, braking gear 7, and steering gear 8, thereby executing automatic driving of the work vehicle 1 toward the destination.

[0066] The information processing device 11 performs collision prediction processing and route planning processing in order to plan the travel route. Figure 4 is a diagram illustrating an example of collision prediction processing and route planning processing. In collision prediction processing, the information processing device 11 reads the map of area E1 indicated by area information, the location of the target point Pg, the location of the passage, and the type, size, and location of obstacles Q1 and Q2. The information processing device 11 also reads the planned route L1 indicated by area information. The information processing device 11 also reads the size of the work vehicle 1 indicated by vehicle information, the body 3 of the work vehicle 1, and the size and location of the running gear 5 and work gear 2 equipped on the work vehicle 1.

[0067] Then, as shown in Figure 4, the information processing device 11 views at least the vehicle body 3, the running gear 5, and the work device 2 from a plan view and models these plan views by covering each with multiple circles of appropriate sizes. In addition, the information processing device 11 associates not only information indicating the size in the planar direction (horizontal plane) but also information indicating the size in the vertical direction (vertical direction) (height from the bottom surface of the running gear 5) with the respective models M1, M2, and M3 of the vehicle body 3, running gear 5, and work device 2.

[0068] Obstacle Q1 is an obstacle located at a lower position than the vehicle body 3 and the work device 2. Obstacle Q2 is an obstacle located at the same height or higher than at least one of the vehicle body 3 and the work device 2. Obstacles Q1 and Q2 include obstacles that are on the ground and obstacles that are not directly on the ground.

[0069] At least one of the wheels 5F, 5R, and tracks of the running gear 5 of the work vehicle 1 is always in contact with the ground. The vehicle body 3 is not always in contact with the ground because it is supported by at least one of the wheels 5F, 5R, and tracks. Non-towed work devices 2 do not touch the ground at least when the work vehicle 1 is moving without performing work. Even when the work vehicle 1 is moving without performing work, the wheels of the towed work device 2 are in contact with the ground, but at least the parts that protrude to the left and right of the vehicle body 3 do not touch the ground.

[0070] The information processing device 11 performs a first collision prediction, which predicts the possibility of the running gear 5 colliding with obstacles Q1 and Q2, and a second collision prediction, which predicts the possibility of the vehicle body 3 and the work device 2 colliding with obstacles Q1 and Q2, based on information about the vehicle body 3, the running gear 5 and the work device 2 included in the vehicle information, as well as area information. The first collision prediction is a process that predicts the possibility of a collision between the work vehicle 1 and obstacles Q1 and Q2 near the ground. In the first collision prediction, the information processing device 11 predicts the possibility of at least one of the wheels 5F, 5R and tracks of the running gear 5 colliding with obstacles Q1 and Q2. The second collision prediction is a process that predicts the possibility of a collision between the work vehicle 1 and obstacles Q1 and Q2 in the air. In the second collision prediction, the information processing device 11 predicts the possibility of at least one of the vehicle body 3 and the work device 2 colliding with obstacles Q1 and Q2.

[0071] In the following embodiment, the information processing device 11 predicts the possibility of collision between the vehicle body 3 and the work device 2 with obstacles Q1 and Q2 in the second collision prediction. However, in other embodiments, the information processing device 11 may predict the possibility of collision between the vehicle body 3 and either obstacle Q1 or Q2 of the vehicle body 3 or the work device 2 in the second collision prediction.

[0072] In the first collision prediction, the information processing device 11 predicts whether the first model M1, which is a model of the running gear 5 (wheels 5F, 5R), will collide with obstacles Q1 and Q2, as shown in Figure 5. In the second collision prediction, the information processing device 11 predicts whether the second model M2, which is a model of the vehicle body 3 (including the cabin 10), and the third model M3, which is a model of the work device 2, will collide with obstacles Q1 and Q2, as shown in Figure 6. At this time, the information processing device 11 refers not only to the dimensions of the running gear 5, vehicle body 3, work device 2, and obstacles Q1 and Q2 in the planar direction, but also to their heights from the ground, and in the first collision prediction, it predicts whether the running gear 5 will collide with obstacles Q1 and Q2, and in the second collision prediction, it predicts whether the vehicle body 3 and work device 2 will collide with obstacles Q1 and Q2.

[0073] Furthermore, the information processing device 11 may perform first and second collision predictions based on at least one of the following: vehicle information and area information, the planned route L1 (shown as a dashed line), the position of the vehicle body 3 detected by the position detection device 13c, and the sensing results of the sensing device 13d. For example, the information processing device 11 performs first and second collision predictions within a certain distance range from at least one of the planned route L1 and the current position of the vehicle body 3. In addition, the information processing device 11 detects the presence or absence of obstacles Q1 and Q2 that actually exist around the work vehicle 1 from the sensing results of the sensing device 13d and performs first and second collision predictions.

[0074] Next, the information processing device 11 performs route planning processing. Route planning processing is the process of creating a route that the work vehicle 1 can travel along in predetermined distances to the target point, based on the map information of the area, without colliding with (contacting) any obstacles. In this embodiment, the Hybrid A-star method is used in the route planning processing, but other methods may also be used.

[0075] In the route planning process, the information processing device 11 creates a plurality of provisional routes L2 that avoid collisions between the running gear 5, vehicle body 3, and work device 2 and obstacles Q1 and Q2, based on the first and second collision predictions, and each provisional route L2 moves a predetermined second distance in multiple different directions (Figure 4). At this time, the information processing device 11 changes the steering angle of the work vehicle 1 within a predetermined angle to a position forward of the current position of models M1 to M3 (position of vehicle body 3, etc.) (towards the direction of travel of the work vehicle 1), thereby creating a plurality of provisional routes L2 that allow the work vehicle 1 to move a second distance and that do not cause collisions between models M1 to M3 and obstacles Q1 and Q2. The second distance may be set to a distance shorter than the first distance sensed by the sensing device 13d.

[0076] The information processing device 11 then selects one of the multiple temporary routes L2 based on predetermined conditions and determines that the selected temporary route L2 as a local route L3a that constitutes a part of the travel route L3. The predetermined conditions at this time are the same as the predetermined conditions when planning the scheduled route L1. That is, the predetermined conditions for determining the local route L3a also include minimizing at least one of the travel time and travel distance to reach the target point Pg. As a result, one of the multiple temporary routes L2 that is most efficient for reaching the target point Pg is selected as the local route L3a. The starting point of the local route L3a may be set to the center of the vehicle body 3 or the center of the tread width of the left and right rear wheels 5R.

[0077] Furthermore, if the predetermined conditions include minimizing both the travel time and travel distance, it may be defined which of the two is prioritized. In addition, to satisfy the predetermined conditions, the information processing device 11 may, for example, select the temporary route L2 that is closest to the planned route L1 from among a plurality of temporary routes L2.

[0078] Once a local route L3a is determined, the information processing device 11 advances models M1 to M3 to the endpoint (endpoint) of that local route L3a. Then, the information processing device 11 determines the next local route L3a following the determined local route L3a using the procedure described above. In this way, the information processing device 11 plans (completes) a travel route L3 that reaches the target point Pg by repeating the process of determining the next local route L3a following the determined local route L3a one or more times.

[0079] Furthermore, as shown in Figure 7, the information processing device 11 plans a travel route L3 based on the first and second collision predictions so as to pass through a plurality of waypoints Pw set on the planned route L1. That is, the information processing device 11 sets each of the plurality of waypoints Pw on the planned route L1 as a local goal, and determines and connects a plurality of local routes L3a to reach the local goal. To this end, the information processing device 11 selects one of the aforementioned plurality of provisional routes L2 that is optimal for going to the waypoint Pw as the local route L3a.

[0080] The information processing device 11 may plan the travel route L3 to pass through all the waypoints Pw set on the planned route L1, or it may plan the travel route L3 to pass through one or more waypoints Pw, which are part of all the waypoints Pw.

[0081] Furthermore, when the information processing device 11 determines a plurality of local routes L3a to reach, for example, any waypoint Pw, it outputs information indicating the plurality of local routes L3a to the vehicle control device 12. Alternatively, the information processing device 11 may output information indicating a predetermined number of local routes L3a to the vehicle control device 12 each time a predetermined number of local routes L3a are determined. The vehicle control device 12 controls the movement of the work vehicle 1 based on the local routes L3a output from the information processing device 11 and continues automatic driving.

[0082] As described above, the information processing device 11 repeatedly performs the following actions: first collision prediction, second collision prediction, creation of multiple hypothetical routes L2, and determination and output of the local route L3a. The vehicle control device 12 continues to perform automatic driving of the work vehicle 1 based on the local route L3a that is sequentially output from the information processing device 11.

[0083] Furthermore, if the information processing device 11 is unable to create any temporary routes L2 that avoid collisions between models M1 to M3 and obstacles Q1 and Q2 before reaching the target point Pg, it outputs a stop command to the vehicle control device 12 to stop the automatic driving of the work vehicle 1. Upon receiving the stop command, the vehicle control device 12 stops the automatic driving of the work vehicle 1 and brings the work vehicle 1 to a stop.

[0084] As another example, if the information processing device 11 is unable to create any temporary routes L2 before reaching the target point Pg, it may return models M1 to M3 to the starting point of the previously determined local route L3a. Then, the information processing device 11 may select another temporary route L2 from the multiple temporary routes L2 created immediately before, re-determine that temporary route L2 as local route L3a, and then create multiple new temporary routes L2.

[0085] As described above, the information processing device 11 extends the travel path L3 of the work vehicle 1 to reach the target point Pg by a predetermined distance while avoiding collisions between the travel device 5, vehicle body 3, and work device 2 with obstacles Q1 and Q2, based on the first collision prediction, the second collision prediction, and predetermined conditions (including vehicle information and area information). The information processing device 11 also plans the travel path L3 so as to minimize at least one of the travel time and travel distance of the work vehicle 1 to reach the target point Pg.

[0086] Furthermore, the information processing device 11 can plan a travel route L3 different from the planned route L1 based on the first and second collision predictions. Specifically, for example, as shown in Figure 8, even if the planned route L1 is planned (set) so as not to pass through a passage J1 that is narrower than the work device 2, if obstacles Q2 such as fields on both sides of the passage J1 are located lower than the work device 2, the information processing device 11 can plan a travel route L3 (local route L3a) such that the travel device 5 passes through the passage J1. Also, for example, even if the planned route L1 is planned so as to pass over a depression (hole) where the vehicle body 3 and the work device 2 will not collide, the information processing device 11 can plan a travel route L3 (local route L3a) that does not pass over the depression so as to avoid the travel device 5 colliding with the depression.

[0087] The information processing device 11 and the vehicle control device 12 perform route following processing while the work vehicle 1 is automatically driving based on the travel route L3 (local route L3a). Route following processing is the process of driving the work vehicle 1 along the planned travel route L3. In this embodiment, a method called Pure persuit is used for route following processing, but other methods may also be used.

[0088] Figures 9 and 10 illustrate an example of path following processing. During the automatic driving of the work vehicle 1 based on the driving path L3, the information processing device 11 predicts a following path (driving trajectory, estimated path) L4 in which the work vehicle 1 travels toward a point of focus Px on the driving path L3, as shown in Figure 9, based on the orientation (azimuth, yaw angle) of the vehicle body 3. The orientation of the vehicle body 3 is calculated by the information processing device 11 based on, for example, time-series data of the position of the vehicle body 3 detected by the position detection device 13c, the measurement results of the inertial measuring device of the position detection device 13c, or the output signals of predetermined sensors provided in the sensor unit 16. The point of focus Px is a position on the driving path L3 that is a predetermined third distance away from the current position of the vehicle body 3 in the direction of travel of the work vehicle 1. The third distance is set to be shorter than the distance of the driving path L3 and the first distance sensed by the sensing device 13d.

[0089] The information processing device 11 draws a straight line connecting the point of focus Px and the position of the vehicle body 3 (the current center position of the vehicle body 3), and calculates the error between the direction of the straight line and the orientation (direction) of the vehicle body 3. Then, the information processing device 11 calculates the turning radius based on this error and a predetermined formula, creates an arc connecting the point of focus Px and the position of the vehicle body 3 with this turning radius, and determines this arc as the follow path L4.

[0090] As described above, once the following path L4 is predicted, the information processing device 11 performs a first collision prediction and a second collision prediction for when the work vehicle 1 travels along the following path L4. At this time, the information processing device 11 performs the first collision prediction and the second collision prediction based on vehicle information, area information, the position of the vehicle body 3 detected by the position detection device 13c, and the sensing results of the sensing device 13d.

[0091] If obstacles Q1 and Q2 are not present on or near the following path L4 (within a predetermined distance from the following path L4), the information processing device 11 predicts in the first and second collision predictions that there is no possibility of collision between the driving device 5, the vehicle body 3, and the work device 2 with obstacles Q1 and Q2. In this case, the information processing device 11 instructs the vehicle control device 12 to continue the automatic driving of the work vehicle 1. That is, the vehicle control device 12 continues the automatic driving so that the work vehicle 1 travels along the following path L4.

[0092] Furthermore, if either obstacle Q1 or Q2 is located on or near the following path L4, the information processing device 11 predicts, in at least one of the first and second collision predictions, that there is a possibility of a collision between the traveling device 5, the vehicle body 3, or the working device 2 and the obstacle Q1 or Q2. In this case, as shown in Figure 10, the information processing device 11 moves the point of focus Px on the traveling path L3 by a fourth distance in the direction toward the vehicle body 3. The fourth distance is set to be shorter than the third distance mentioned above.

[0093] After moving the point of focus Px, the information processing device 11 predicts again the follow path L4 that the work vehicle 1 will travel toward the point of focus Px, as described above, and performs the first collision prediction and the second collision prediction again for when the work vehicle 1 travels along the follow path L4. If the information processing device 11 predicts in the first and second collision predictions that there is no possibility of collision between the running gear 5, the vehicle body 3, and the work gear 2 and the obstacles Q1 and Q2, it outputs a follow command to the vehicle control device 12 to direct the work vehicle 1 toward the point of focus Px after it has moved toward the point of focus Px along the newly predicted follow path L4. The follow command includes information indicating the position of the point of focus Px after it has moved toward the point of focus Px.

[0094] When the vehicle control device 12 receives a follow command, it controls the movement (steering, travel speed) of the work vehicle 1 in accordance with the follow command, causing the work vehicle 1 to travel along the follow path L4 toward the target point Px after the move. When the vehicle body 3 reaches the target point Px after the move, the vehicle control device 12 continues automatic driving so that the vehicle body 3 moves along the travel path L3.

[0095] Furthermore, after moving the gaze point Px, the information processing device 11 performs a first collision prediction and a second collision prediction assuming that the work vehicle 1 travels along the predicted follow path L4. If the first and second collision predictions predict that there is a possibility of collision between the travel device 5, the vehicle body 3, and the work device 2 and obstacles Q1 and Q2, the information processing device 11 moves the gaze point Px a fourth distance further along the travel path L3 in the direction closer to the vehicle body 3. The information processing device 11 also performs the prediction of the follow path L4 and the first and second collision predictions again, and depending on the results of the first and second collision predictions, it outputs the follow command or moves the gaze point Px as described above.

[0096] Subsequently, when the distance from the position of the vehicle body 3 to the gaze point Px after movement falls below a threshold, the information processing device 11 outputs a stop command to the vehicle control device 12 to stop the automatic movement of the work vehicle 1. Upon receiving the stop command, the vehicle control device 12 stops the automatic movement of the work vehicle 1 and brings the work vehicle 1 to a stop. In other words, even if the gaze point Px is moved to a predetermined limit distance, if it is predicted that there is a possibility of collision between the driving device 5, the vehicle body 3, and the work device 2 with obstacles Q1 and Q2, the automatic movement of the work vehicle 1 is stopped.

[0097] Figures 11A and 11B are flowcharts illustrating an example of the operation of the automated driving support system 100, showing the operation of the information processing device 11 and the vehicle control device 12 described above. Each step in Figures 11A and 11B is executed by at least one of the information processing device 11 and the vehicle control device 12 according to a software program stored in the internal memory of the information processing device 11 and the vehicle control device 12.

[0098] When information indicating one of the areas is input via the user interface 13a of the work vehicle 1, and that area is specified (S1 in Figure 11A), the information processing device 11 and the vehicle control device 12 read the vehicle information and the area information corresponding to the input information from the storage device 18 (S2). Then, the information processing device 11 displays a map of the area via the user interface 13a based on the area information (S3). At this time, the roads and obstacles Q1 and Q2 that exist in the area, the target point Pg set in the area, and the planned route L1 to the target point Pg are displayed on the area map.

[0099] Next, when a predetermined driving start operation to automatically drive the work vehicle 1 toward the target point Pg is performed by at least one of the user interface 13a and the operating device of the operation unit 17 (S4), the vehicle control device 12 starts the automatic driving of the work vehicle 1 based on the planned route L1 and the position of the vehicle body 3 detected by the position detection device 13c (S5). In addition, the information processing device 11 performs the first collision prediction and the second collision prediction based on the vehicle information and area information as described above (S6).

[0100] Then, if the information processing device 11 predicts, for example, that obstacles Q1 and Q2 exist near any waypoint Pw on the planned route L1, and that there is a possibility of collision between the driving device 5, vehicle body 3, and work device 2 with obstacles Q1 and Q2 in at least one of the first and second collision predictions (S7: NO), it outputs a stop command to the vehicle control device 12. As a result, the vehicle control device 12 stops the automatic driving of the work vehicle 1 in accordance with the stop command (S11). Also, the work vehicle 1 stops without reaching the target point Pg.

[0101] Furthermore, if the information processing device 11 predicts in the first and second collision predictions that there is no possibility of collision between the running device 5, vehicle body 3, and work device 2 with obstacles Q1 and Q2 (S7: YES), it executes route planning processing (S8). At this time, the information processing device 11 sets one of the multiple waypoints Pw on the planned route L1, either the waypoint Pw closest to the vehicle body 3 or a waypoint Pw a certain distance away from the vehicle body 3, as the local goal, and determines multiple local routes L3a in the procedure described above, based on the first and second collision predictions, so as to reach the local goal.

[0102] In this case, if the information processing device 11 is unable to create the aforementioned temporary route L2 and is unable to determine the local route L3a that reaches the local goal (S9: YES), it outputs a stop command to the vehicle control device 12. As a result, the vehicle control device 12 stops the automatic driving of the work vehicle 1 in accordance with the stop command (S11).

[0103] Furthermore, if the information processing device 11 has created at least one provisional route L2 and determined multiple local routes L3a that reach the local goal (S9:NO), it outputs information indicating the multiple local routes L3a to the vehicle control device 12. As a result, the vehicle control device 12 performs (continues) the automatic driving of the work vehicle 1 based on the multiple local routes L3a, etc., instead of the planned route L1 (S10).

[0104] Then, as described above, the information processing device 11 performs path following processing to predict the following path L4 on which the work vehicle 1 travels toward the gaze point Px on the travel path L3 (local path L3a) (S12 in Figure 11B). The information processing device 11 also performs first and second collision predictions as described above, assuming that the work vehicle 1 travels along the following path L4 (S13). Furthermore, if the information processing device 11 predicts in the first and second collision predictions that there is no possibility of collision between the travel device 5, vehicle body 3, and work device 2 with obstacles Q1 and Q2 (S14: YES), and if the gaze point Px has not been moved (S17: NO), it checks the position of the vehicle body 3.

[0105] If the vehicle body 3 has not yet reached the target point Pg (S19: NO), and the predetermined stop operation to stop the automatic movement of the work vehicle 1 has not been performed (S20: NO), the information processing device 11 checks whether the travel route L3 has been completed. At this time, if the local route L3a has not yet reached the target point Pg and the travel route L3 has not been completed (S21: NO), the information processing device 11 repeatedly executes the steps from S8 onwards in Figure 11A.

[0106] Furthermore, if the information processing device 11 predicts in at least one of the first and second collision predictions that there is a possibility of collision between the traveling device 5, the vehicle body 3, and the work device 2 with obstacles Q1 and Q2 (S14:NO in Figure 11B), it moves the gaze point Px on the travel path L3 by a fourth distance in the direction toward the vehicle body 3 (S15). The information processing device 11 then calculates the distance from the position of the vehicle body 3 to the gaze point Px after the move, and if this distance is greater than a threshold (S16:NO), it predicts again the follow path L4 on which the work vehicle 1 will travel toward the gaze point Px (S12). The information processing device 11 also performs the first and second collision predictions again for the case where the work vehicle 1 travels along the follow path L4 (S13).

[0107] Then, if the information processing device 11 predicts that there is no possibility of collision between the running device 5, vehicle body 3, and work device 2 with obstacles Q1 and Q2 in the first and second collision predictions performed again (S14: YES), it outputs a follow command to the vehicle control device 12 to move the work vehicle 1 towards the new gaze point Px along the predicted follow path L4. As a result, the vehicle control device 12 moves the work vehicle 1 along the follow path L4 towards the new gaze point Px according to the follow command (S18). After this, the information processing device 11 repeatedly executes steps S19 and onward.

[0108] Furthermore, if the information processing device 11 predicts, based on at least one of the first and second collision predictions performed again, that there is a possibility of collision between the traveling device 5, the vehicle body 3, and the working device 2 with obstacles Q1 and Q2 (S14: NO), it moves the gaze point Px again by the fourth distance (S15). Then, if the distance from the position of the vehicle body 3 to the gaze point Px after the move is greater than a threshold (S16: NO), the information processing device 11 repeats the execution of steps S12 onward.

[0109] Subsequently, by moving the gaze point Px once or more (S15), if the distance from the position of the vehicle body 3 to the gaze point Px after the movement falls below a threshold (S16: YES), the information processing device 11 outputs a stop command, and the vehicle control device 12 stops the automatic driving of the work vehicle 1 in accordance with the stop command (S23). In other words, the information processing device 11 stops the automatic driving of the work vehicle 1 if, even after repeatedly moving the gaze point Px in predetermined fourth distance in the direction toward the vehicle body 3, no follow path is predicted in the first collision prediction and second collision prediction that is predicted to have no possibility of collision. As a result, the work vehicle 1 stops without reaching the target point Pg.

[0110] Furthermore, after the first and second collision predictions, which were performed again, predict that there is no possibility of collision between the traveling device 5, the vehicle body 3, and the working device 2 and obstacles Q1 and Q2 (S14:YES), the information processing device 11 executes steps S17 to S20. Then, if the information processing device 11 confirms that the local path L3a has reached the target point Pg and the traveling path L3 is complete (S21:YES), it waits for the vehicle body 3 to reach the target point Pg.

[0111] Subsequently, when the vehicle body 3 reaches the target point Pg (S19:YES), the information processing device 11 outputs a stop command, and the vehicle control device 12 stops the automatic movement of the work vehicle 1 in accordance with the stop command (S22).

[0112] Furthermore, if a predetermined stopping operation is performed by at least one of the user interface 13a and the operation device of the operation unit 17 before the vehicle body 3 reaches the target point Pg (S19: NO) (S20: YES), the information processing device 11 outputs a stop command and the vehicle control device 12 stops the automatic movement of the work vehicle 1 (S22).

[0113] In the embodiment described above, an example was shown in which route planning processing was performed and a travel route L3 was planned while the work vehicle 1 was automatically traveling, but the invention is not limited to this. Before the start of the automatic travel of the work vehicle 1, the information processing device 11 may perform route planning processing, perform a first collision prediction and a second collision prediction based on vehicle information and area information, etc., and plan a travel route L3 based on the first collision prediction and the second collision prediction, etc. (vehicle information may be included, and area information may also be included).

[0114] Furthermore, the information processing device 11 may determine the planned route L3, which was planned before the start of automated driving as described above, as the scheduled route L1. That is, the information processing device 11 may perform a first collision prediction and a second collision prediction based on vehicle information, area information, and predetermined conditions, and plan the scheduled route L1 (driving route L3) based on the first collision prediction and the second collision prediction, etc.

[0115] Furthermore, the information processing device 11 may perform route planning processing when it starts the automatic driving of the work vehicle 1 (while the automatic driving is in progress), based on the planned route L1 as described above and the position of the vehicle body 3 detected by the position detection device 13c. In this route planning processing, the information processing device 11 may perform first collision prediction and second collision prediction based on vehicle information including the position of the vehicle body 3 and area information including the sensing results of the sensing device 13d, and plan (create) the driving route L3 based on the first collision prediction and second collision prediction, etc. That is, the information processing device 11 may update the driving route L3 planned before the start of the automatic driving of the work vehicle 1 based on the first collision prediction and second collision prediction, etc., while the automatic driving is in progress.

[0116] In the embodiments described above, an example was shown in which the information processing device 11 and the vehicle control device 12 are installed on the work vehicle 1, but the invention is not limited to this. The information processing device 11 and the vehicle control device 12 may be installed on the management server 20, or on a remote device (terminal device) that remotely operates or monitors the work vehicle 1. The remote device may also be a terminal device 30. Furthermore, the information processing device 11 and the vehicle control device 12 may be a computer installed elsewhere than the work vehicle 1, such as a terminal device 30. In other words, the information processing device 11 and the vehicle control device 12 may be installed on at least one of the work vehicle 1, a server capable of communicating with the work vehicle 1, and a terminal device. Furthermore, the information processing device 11 and the vehicle control device 12 may be installed on separate devices or machines.

[0117] Furthermore, input devices for inputting vehicle information and area information (user interfaces 13a, 32, communication device 13b, position detection device 13c, and sensing device 13d) may be provided on the work vehicle 1, the management server 20, the terminal device 30, the remote device mentioned above, and other devices or machines different from these. Alternatively, a single computer may be configured to operate as both the information processing device 11 and the vehicle control device 12. In addition, if the input devices, information processing device 11, and vehicle control device 12 are provided on the work vehicle 1, the management server 20 and the terminal device 30 may be omitted from the automatic driving support system 100.

[0118] The automated driving support system 100 of this embodiment, as described above, has the following configuration and achieves the following effects.

[0119] [Item 1] The automatic driving support system 100 of this embodiment is a system that supports the automatic driving of a work vehicle 1 having a driving device 5 for driving a vehicle body 3 and a work device 2 that can be attached for performing work, and includes input devices 13a, 32, 13b, 13c, 13d (user interface 13a, 32, communication device 13b, position detection device 13c, sensing device 13d) for inputting vehicle information relating to at least one of the vehicle body 3 and the work device 2 and the driving device 5, and area information relating to a target point Pg and obstacles Q1, Q2 located in a predetermined area E1, and an information processing device The information processing device 11 includes a device 11, and performs a first collision prediction, which predicts the possibility of the traveling device 5 colliding with obstacles Q1 and Q2 when the work vehicle 1 travels through area E1 toward a target point Pg, and a second collision prediction, which predicts the possibility of at least one of the vehicle body 3 and the work device 2 colliding with obstacles Q1 and Q2, based on vehicle information and area information. Based on the first and second collision predictions, the device plans a travel path L3 for the work vehicle 1 that avoids collisions between the traveling device 5, the vehicle body 3, and the work device 2 attached to the vehicle body 3 with obstacles Q1 and Q2.

[0120] According to the configuration described in item 1 above, the work vehicle 1 automatically travels along the travel path L3, allowing the travel device 5, vehicle body 3, and work device 2 to avoid collisions with obstacles Q1 and Q2 with ample margin, thereby reducing the frequency of sudden evasive maneuvers such as steering, deceleration, and stopping to avoid collisions. This makes it possible to efficiently and automatically travel the work vehicle 1 towards the target point Pg. Furthermore, the travel path L3 is planned based on two types of collision predictions: a first collision prediction near the ground between the grounded travel device 5 and obstacles Q1 and Q2, and a second collision prediction in the air between at least one of the vehicle body 3 and work device 2, which are located above the travel device 5, and obstacles Q1 and Q2. For example, even in a passage J1 (Figure 4) that is wider than the work device 2, if it is predicted that there is no possibility of the travel device 5, vehicle body 3, and work device 2 colliding with obstacles Q1 and Q2, the travel path L3 can be created in that passage J1, increasing the degree of freedom in planning the travel path L3. Furthermore, the information processing device 11 can plan a travel path L3 for the work vehicle 1 that more reliably avoids collisions between the travel device 5, vehicle body 3, and work device 2 with obstacles Q1 and Q2, by using at least the vehicle information from the vehicle information and area information, in addition to the first and second collision predictions.

[0121] [Item 2] In the automated driving support system 100 described in Item 1 above, the information processing device 11 performs a first collision prediction and a second collision prediction and plans a driving path L3 when the work vehicle 1 travels through area E1 toward target point Pg without performing work with the work device 2, and the automated driving support system 100 includes a vehicle control device 12 that controls the driving of the work vehicle 1 based on the driving path L3 to perform automated driving.

[0122] According to the configuration described in item 2 above, the vehicle control device 12 executes automatic driving of the work vehicle 1 based on the travel path L3, thereby allowing the travel device 5, vehicle body 3, and work device 2 to avoid collisions with obstacles Q1 and Q2 with ample margin, and enabling the work vehicle 1 to efficiently automatically drive toward the target point Pg.

[0123] [Item 3] In the automatic driving support system 100 described in Item 1 or 2 above, the vehicle information includes information indicating the size of at least one of the vehicle body 3 and the work device 2, the size of the running device 5, the relative position of at least the running device 5 of the running device 5 and the work device 2 with respect to the vehicle body 3, and the height of at least one of the running device 5 of the vehicle body 3 and the work device 2 from the bottom surface. The area information includes information indicating the location of the passage J1, target point Pg, and obstacles Q1 and Q2 in area E1, and the height of obstacles Q1 and Q2 from the ground. The information processing device 11 predicts, as a first collision prediction, the possibility of collision between at least one of the wheels 5F, 5R and tracks of the running device 5 and obstacles Q1 and Q2, and as a second collision prediction, the possibility of collision between at least one of the obstacles Q1 and Q2 of the vehicle body 3 and the work device 2.

[0124] According to the configuration described in item 3 above, the accuracy of the first and second collision predictions can be improved in both the planar and vertical directions based on vehicle information and area information.

[0125] [Item 4] In the automatic driving support system 100 described in any of the above items 1 to 3, the information processing device 11 predicts the possibility of collision between the vehicle body 3 and the work device 2 attached to the vehicle body 3 and obstacles Q1 and Q2 as a second collision prediction.

[0126] According to the configuration described in item 4 above, based on the second and first collision predictions, a travel path L3 toward the target point Pg can be planned while avoiding collisions between the travel device 5, vehicle body 3, and work device 2 with obstacles Q1 and Q2. Furthermore, by having the work vehicle 1 automatically travel along the travel path L3, it becomes possible to reliably avoid collisions between the vehicle body 3, work device 2, and travel device 5 with obstacles Q1 and Q2, and to efficiently automatically travel the work vehicle 1 toward the target point Pg. In addition, when the work vehicle 1 is traveling without performing work with the work device 2, the work device 2 is set to a position where it does not touch the ground so as not to hinder the travel, so a second collision prediction can be performed in the air between the vehicle body 3 and work device 2 and obstacles Q1 and Q2, above the first collision prediction near the ground between the travel device 5 and obstacles Q1 and Q2. Therefore, the range in which collisions between the running gear 5, vehicle body 3, and work device 2 and obstacles Q1 and Q2 can be predicted is widened, allowing the running gear 5, vehicle body 3, and work device 2 to avoid collisions with obstacles Q1 and Q2 with greater margin, and enabling the work vehicle 1 to automatically travel more efficiently toward the target point Pg.

[0127] [Item 5] In the automated driving support system 100 described in any of the above items 1 to 4, the information processing device 11 performs a first collision prediction and a second collision prediction based on the planned route L1 of the work vehicle 1 heading to a target point Pg planned based on predetermined conditions, vehicle information, and area information, and plans a driving route L3 based on the first collision prediction and the second collision prediction.

[0128] According to the configuration described in item 5 above, a travel path L3 can be planned that efficiently moves the work vehicle 1 toward the target point Pg while avoiding collisions between the travel device 5, the vehicle body 3, and the work device 2, using the planned route L1 as a guideline.

[0129] [Item 6] In the automated driving support system 100 described in Item 5 above, the information processing device 11 plans a scheduled route based on predetermined conditions, a first collision prediction, and a second collision prediction.

[0130] According to the configuration described in item 6 above, it becomes possible to plan a route for the work vehicle 1 to travel toward the target point Pg while avoiding collisions between the vehicle body 3, the work device 2, and the travel device 5 with obstacles Q1 and Q2, and to efficiently automate the work vehicle 1 based on the planned route.

[0131] [Item 7] In the automatic driving support system 100 described in item 5 or 6 above, a vehicle control device 12 is provided to control the driving of the work vehicle 1 and perform the automatic driving, and the input devices 13a to 13d, 33 include a position detection device 13c that detects the position of the vehicle body 3 and a sensing device 13d that senses within a predetermined first distance range from the work vehicle 1, the vehicle control device 12 starts automatic driving based on the planned route L1, the information processing device 11 performs a first collision prediction and a second collision prediction based on the planned route L1, vehicle information, area information, the position of the vehicle body 3, and the sensing results of the sensing device 13d, plans a driving route L3 based on the first collision prediction and the second collision prediction, and when the driving route L3 is planned, the vehicle control device 12 performs automatic driving based on the driving route L3 instead of the planned route L1.

[0132] According to the configuration described in item 7 above, during the execution of automated driving of the work vehicle 1 based on the planned route L1, the accuracy of the first and second collision predictions can be further improved based on the planned route L1, vehicle information, area information, time-series data of the position of the vehicle body 3, and the actual conditions around the work vehicle 1 sensed by the sensing device 13d. Furthermore, even if a new obstacle not indicated in the area information exists around the work vehicle 1, the sensing device 13d can sense the new obstacle, and the first and second collision predictions for the driving device 5, vehicle body 3, and work device 2 can be performed to avoid collision with the new obstacle, and a driving route L3 that avoids collision with the new obstacle can be planned.

[0133] [Item 8] In the automatic driving support system 100 described in any of the above items 1 to 7, the information processing device 11 creates a plurality of provisional routes L2 that avoid the collision, based on the first collision prediction and the second collision prediction, each provisional route L2 that moves a predetermined second distance in a plurality of different directions, and determines one of the provisional routes L2 selected from the plurality of provisional routes L2 based on predetermined conditions as a local route L3a that constitutes a part of the driving route L3, and plans the driving route L3 by repeating the determination of the next local route L3a following the determined local route L3a one or more times.

[0134] According to the configuration described in item 8 above, the traveling device 5, the vehicle body 3, and the working device 2 can avoid colliding with obstacles Q1 and Q2, while extending the local path L3a that satisfies predetermined conditions by a second distance at a time to complete the traveling path L3.

[0135] [Item 9] In the automated driving support system 100 described in any of the above items 1 to 8, the information processing device 11 plans the driving path L3 based on the first collision prediction, the second collision prediction, and predetermined conditions.

[0136] According to the configuration described in item 9 above, a travel path L3 can be planned that satisfies predetermined conditions, allowing the travel device 5, vehicle body 3, and work device 2 to reach the target point Pg while avoiding collisions with obstacles Q1 and Q2.

[0137] [Item 10] In the automated driving support system 100 described in item 5 or 9 above, the predetermined conditions include minimizing, as much as possible, the driving time and driving distance until the work vehicle 1 reaches the target point Pg.

[0138] According to the configuration described in item 10 above, it is possible to plan efficient routes L1 and L3 in terms of at least one of the travel time and travel distance.

[0139] [Item 11] In the automated driving support system 100 described in Item 7 above, the information processing device 11 plans a driving route L3 based on the first collision prediction and the second collision prediction so as to pass through a plurality of waypoints Pw set on the planned route L1.

[0140] According to the configuration described in item 11 above, a travel path L3 can be planned that satisfies predetermined conditions, using the planned path L1 as a guideline, while the traveling device 5, vehicle body 3, and work device 2 avoid colliding with obstacles Q1 and Q2 to reach the target point Pg.

[0141] [Item 12] In the automatic driving support system 100 described in item 8 or 11 above, a vehicle control device 12 is provided to control the movement of the work vehicle based on the travel path L3 and perform automatic driving, and the input devices 13a to 13d, 33 include a position detection device for detecting the position of the vehicle body 3 and a sensing device 13d for sensing within a predetermined first distance range from the work vehicle 1, and the information processing device 11 predicts a follow path L4 in which the work vehicle 1 travels toward a point of focus Px on the travel path L3, which is a predetermined third distance away from the position of the vehicle body 3, based on the orientation of the vehicle body 3, and performs a first collision prediction and a second collision prediction in which the work vehicle 1 travels along the follow path L4 based on vehicle information, area information, the position of the vehicle body 3, and the sensing result of the sensing device 13d, and if the first collision prediction and the second collision prediction predict that there is no possibility of the collision, the vehicle control device 12 is made to perform automatic driving so that the work vehicle 1 travels along the follow path L4.

[0142] According to the configuration described in item 12 above, during the automatic driving of the work vehicle 1 based on the driving path L3, the accuracy of the first and second collision predictions can be further improved based on vehicle information, area information, time-series data of the position of the vehicle body 3, and the actual conditions around the work vehicle 1 sensed by the sensing device 13d. Furthermore, even if a new obstacle not indicated in the area information exists on or near the follow path L4, the sensing device 13d can sense the new obstacle, and the first and second collision predictions for the driving device 5, vehicle body 3, and work device 2 with respect to the new obstacle can be performed with high accuracy. In addition, if there is no possibility of collision between the driving device 5, vehicle body 3, and work device 2 with respect to an obstacle, the work vehicle 1 can be driven along the follow path L4, thereby enabling the work vehicle 1 to automatically drive along the driving path L3.

[0143] [Item 13] In the automatic driving support system 100 described in Item 12 above, if the information processing device 11 predicts that there is a possibility of collision in at least one of the first collision prediction and the second collision prediction when the work vehicle 1 travels along the follow path L4, it moves the gaze point Px on the travel path L3 by a predetermined fourth distance in the direction toward the vehicle body 3, predicts the follow path L4 again, and performs the first collision prediction and the second collision prediction again.

[0144] According to the configuration described in item 13 above, if there is a possibility of collision between the traveling device 5, the vehicle body 3, and the working device 2 with an obstacle, a follow path L4 is set to avoid the collision, and the working vehicle 1 is driven along the follow path L4 to the point of focus Px, thereby moving the working vehicle 1 onto the travel path L3 and enabling it to automatically travel along the travel path L3.

[0145] [Item 14] In the automatic driving support system 100 described in Item 13 above, the information processing device 11 moves the gaze point once or more, and if the distance from the gaze point Px after the move to the position of the vehicle body 3 falls below a threshold, the vehicle control device 12 stops the automatic driving.

[0146] According to the configuration described in item 14 above, even if the gaze point Px is moved to its limit in the direction approaching the vehicle body 3, if it is not possible to predict a follow-up path that avoids a collision between the running gear 5, the vehicle body 3, and the work device 2 with respect to an obstacle, the automatic driving of the work vehicle 1 can be stopped to reliably prevent such a collision.

[0147] [Item 15] In the automated driving support system 100 described in any of the above items 2 to 14, a work vehicle 1 is provided, and the input devices 13a to 13d, 33, information processing device 11, and vehicle control device 12 are provided on the work vehicle 1 and at least one of a server (management server) 20 and a terminal device 30 that can communicate with the work vehicle 1.

[0148] According to the configuration described in item 15 above, the input devices 13a to 13d, 33, the information processing device 11, and the vehicle control device 12 can be installed in at least one of the work vehicle 1, the server 20, and the terminal device 30, according to the user's wishes, thereby improving convenience.

[0149] Although the present invention has been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0150] 1. Work vehicles 2. Working equipment 3. Vehicle Body 5. Traveling device 11 Information Processing Devices 12 Vehicle control system 13a User interface (input device) 13b Communication device (input device) 13c Position detection device (input device) 13b Sensing device (input device) 20 Management Server (Server) 30 Terminal devices 32. User Interface (Input Device) 100 Automated Driving Assistance Systems E1 Area J1 aisle L1 Planned Route L2 Temporary Route L3 Driving Route L3a Local pathway L4 Follow-up Route Pg target point Pw viapoint Px Focus Point Q1, Q2 Obstacles

Claims

1. An automated driving support system that assists the automated driving of a work vehicle having a running gear for moving the vehicle body and capable of being equipped with work equipment for performing work, An input device for inputting vehicle information relating to at least one of the vehicle body and the work device and the running device, and area information relating to target points and obstacles in a predetermined area, Equipped with an information processing device, The aforementioned information processing device is A first collision prediction predicts the possibility of the vehicle's running gear colliding with an obstacle when the work vehicle travels through the area toward the target point, and a second collision prediction predicts the possibility of at least one of the vehicle body and the work gear colliding with the obstacle, based on the vehicle information and the area information. An automated driving support system that plans a driving path for a work vehicle to avoid collisions of the driving device, the vehicle body, and the work device attached to the vehicle body with the aforementioned obstacle, based on the first collision prediction and the second collision prediction.

2. The information processing device performs the first collision prediction and the second collision prediction and plans the travel path when the work vehicle travels through the area toward the target point without performing work with the work device. The automatic driving support system according to claim 1, further comprising a vehicle control device that controls the movement of the work vehicle based on the aforementioned travel path and performs the automatic driving.

3. The vehicle information includes information indicating the size of at least one of the vehicle body and the work device, the size of the running gear, the relative position of at least one of the running gear and the work device with respect to the vehicle body, and the height of at least one of the running gear from the bottom surface of the running gear, The area information includes information indicating the location of the passages, target points, and obstacles within the area, and the height of the obstacles from the ground, respectively. The aforementioned information processing device is As the first collision prediction, the possibility of collision between at least one of the wheels and tracks of the running gear and the obstacle is predicted. The automatic driving support system according to claim 1, wherein the second collision prediction predicts the possibility of collision with at least one of the vehicle body and the work device with the obstacle.

4. The automatic driving support system according to claim 1, wherein the information processing device predicts the possibility of collision between the vehicle body and the work device attached to the vehicle body with the obstacle as the second collision prediction.

5. The automated driving support system according to claim 1, wherein the information processing device performs the first collision prediction and the second collision prediction based on the planned route of the work vehicle toward the target point planned based on predetermined conditions, the vehicle information, and the area information, and plans the driving route based on the first collision prediction and the second collision prediction.

6. The automated driving support system according to claim 5, wherein the information processing device plans the scheduled route based on the predetermined conditions, the first collision prediction, and the second collision prediction.

7. The vehicle control device is provided to control the movement of the work vehicle and perform the automatic driving described above. The aforementioned input device is A position detection device for detecting the position of the vehicle body, The system includes a sensing device that senses within a predetermined first distance range from the aforementioned work vehicle, The vehicle control device starts the automatic driving based on the planned route. When the automatic driving starts, the information processing device performs the first collision prediction and the second collision prediction based on the planned route, the vehicle information, the area information, the position of the vehicle body, and the sensing results of the sensing device, and plans the driving route based on the first collision prediction and the second collision prediction. The automatic driving support system according to claim 5, wherein the vehicle control device, once the driving route is planned, performs the automatic driving based on the driving route instead of the planned route.

8. The aforementioned information processing device is Based on the first and second collision predictions, a plurality of provisional routes are created to avoid the collision, each moving a predetermined second distance in a plurality of different directions, and one of the provisional routes selected from the plurality of provisional routes based on predetermined conditions is determined to be a local route that constitutes a part of the driving route. The automatic driving support system according to claim 1, which plans the driving route by repeating the process of determining the next local route following the determined local route one or more times.

9. The automated driving support system according to claim 1, wherein the information processing device plans the driving path based on the first collision prediction, the second collision prediction, and predetermined conditions.

10. The automated driving support system according to claim 5 or 9, wherein the predetermined conditions include minimizing the travel time and travel distance of the work vehicle until it reaches the target point.

11. The automated driving support system according to claim 7, wherein the information processing device plans the driving route based on the first collision prediction and the second collision prediction so as to pass through a plurality of waypoints set on the planned route.

12. The vehicle control device is provided to control the movement of the work vehicle based on the aforementioned travel path and to perform the automatic driving, The aforementioned input device is A position detection device for detecting the position of the vehicle body, The system includes a sensing device that senses within a predetermined first distance range from the aforementioned work vehicle, The aforementioned information processing device is During the execution of the automated driving described above, a follow path is predicted based on the orientation of the vehicle body, in which the work vehicle travels toward a point of focus on the driving path, which is located a predetermined third distance away from the position of the vehicle body. The first and second collision predictions are performed when the work vehicle travels along the following path, based on the vehicle information, the area information, the position of the vehicle body, and the sensing results of the sensing device. The automatic driving support system according to claim 8 or 11, which causes the vehicle control device to perform automatic driving so that the work vehicle travels along the following path when the first collision prediction and the second collision prediction predict that there is no possibility of the collision.

13. The automatic driving support system according to claim 12, wherein if the information processing device predicts that there is a possibility of collision in at least one of the first collision prediction and the second collision prediction when the work vehicle travels along the following path, it moves the point of focus on the travel path by a predetermined fourth distance in the direction toward the vehicle body, predicts the following path again, and performs the first collision prediction and the second collision prediction again.

14. The automatic driving support system according to claim 13, wherein the information processing device moves the point of focus once or more times, and if the distance from the point of focus after the movement to the position of the vehicle body falls below a threshold, the vehicle control device stops the automatic driving.

15. Equipped with the aforementioned work vehicle, The automated driving support system according to claim 2, wherein the input device, the information processing device, and the vehicle control device are provided in at least one of the work vehicle, a server and a terminal device capable of communicating with the work vehicle.

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