Route generation method, control device, travel control system, work vehicle, processing device, and computer program

Abstract

The present invention provides a path generation method, control device, travel control system, work vehicle, processing device, and computer program that enable a work vehicle with attached implements to travel efficiently within a field. [Solution] The method is a method for generating a route for a work vehicle to which an implement is attached to travel within a field, which is performed by one or more computing devices. The route includes temporary stopping positions located in the peripheral area outside the work area within the field, which is provided along at least a portion of the outer perimeter of the field. The method includes calculating the space defined by the trajectories of the work vehicle and implement when the work vehicle makes a predetermined turn, based on the size of the work vehicle, the size of the implement, and the positional relationship between the work vehicle and the implement, and determining temporary stopping positions based on the space.

Description

Technical Field

[0001] The present invention relates to a path generation method, a control device, a travel control system, a work vehicle, a processing device, and a computer program.

Background Art

[0002] As next-generation agriculture, research and development of smart agriculture utilizing ICT (Information and Communication Technology) and IoT (Internet of Things) has been underway. Research and development for the automation and unmanned operation of work vehicles such as tractors used in fields has also been underway. For example, work vehicles that travel with automatic steering using a positioning system such as GNSS (Global Navigation Satellite System) capable of precise positioning have been put into practical use.

[0003] Patent Document 1 discloses a work vehicle that can autonomously move between multiple tree rows by using SLAM (Simultaneous Localization and Mapping) technology that simultaneously performs position estimation and map creation in an orchard such as a vineyard. Patent Document 1 describes that in an orchard, while a work vehicle travels between multiple tree rows, operations such as mowing and control are performed using a work implement (agricultural implement) connected to the work vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] There is a need to improve the efficiency of field movement of work vehicles with attached implements. Further details will be provided later.

[0006] The present invention aims to provide a route generation method, control device, travel control system, work vehicle, processing device, and computer program that enable a work vehicle to which a work implement is attached to travel efficiently within a field. [Means for solving the problem]

[0007] According to embodiments of the present invention, the following solutions are provided.

[0008] [Item 1] A method for generating a route for a work vehicle with an attached implement to travel through a field, which is performed by one or more computing devices, The aforementioned route includes a temporary stopping position located within a peripheral area other than the work area within the field, which is provided along at least a portion of the outer perimeter of the field. Based on the size of the work vehicle, the size of the work machine, and the positional relationship between the work vehicle and the work machine, the space defined by the trajectory of the work vehicle and the work machine when the work vehicle performs a predetermined turn is calculated. Based on the aforementioned space, the temporary stopping position is determined. Methods that include...

[0009] [Item 2] Calculating the aforementioned space is To acquire information on the turning direction and turning angle of the predetermined turn, The trajectory is calculated based on the aforementioned turning direction and turning angle. The method described in item 1, including the method described in item 1.

[0010] [Item 3] Calculating the aforementioned space is To obtain information on the upper limit of the steering angle of the work vehicle that is permitted when the work vehicle performs the predetermined turn, The trajectory is calculated based on the upper limit of the steering angle. The method described in item 1 or 2, including the method described in item 1 or 2.

[0011] [Item 4] Calculating the aforementioned space is During travel between the temporary stopping position and the position where travel resumes in the work area after stopping at the temporary stopping position, information on one or more permissible actions selected from forward, reverse, right turn, and left turn actions is acquired. Calculating the trajectory based on the above 1 or more actions. The method described in any one of items 1 to 3, including the method described in item 1 to 3.

[0012] [Item 5] The method according to any one of items 1 to 4, wherein the route includes a turning section between the temporary stopping position and the position where travel resumes in the work area after stopping at the temporary stopping position.

[0013] [Item 6] Calculating the aforementioned space is To obtain information on the method of connecting the aforementioned work machine to the aforementioned work vehicle, The trajectory is calculated based on the positional relationship between the work vehicle and the work machine based on the aforementioned coupling method. Includes, The method according to any one of items 1 to 5, wherein the information of the connection method includes information on whether the work machine is connected to the work vehicle in a state in which the orientation of the work machine is fixed with respect to the orientation of the work vehicle.

[0014] [Item 7] Calculating the aforementioned space is When the orientation of the working machine is not fixed with respect to the orientation of the work vehicle, obtaining information on the upper limit value of the angle of the difference between the orientation of the work vehicle and the orientation of the working machine that is allowed when the work vehicle makes the predetermined turn, calculating the trajectory based on the upper limit value of the angle of the difference The method according to item 6, comprising:

[0015] [Item 8] Calculating the space includes: calculating a first length of the trajectory in a first direction parallel to the orientation of the work vehicle before the predetermined turn; calculating a second length that increases in a direction opposite to the direction in which the predetermined turn is directed, among the lengths of the trajectory in a second direction intersecting the first direction, based on the length of the work vehicle in the second direction before the predetermined turn; The method according to any one of items 1 to 7, comprising:

[0016] [Item 9] Determining the temporary stop position includes: determining the temporary stop position such that a rectangle determined by the first length and the second length is included in a predetermined area within the peripheral area, the method according to item 8.

[0017] [Item 10] The predetermined area is provided in contact with the outer periphery of the field, the method according to item 9.

[0018] [Item 11] The outer periphery of the field has a shape including a plurality of sides, Determining the temporary stop position includes: determining the temporary stop position such that the temporary stop position is located in the vicinity of any one of the plurality of sides and the orientation of the work vehicle at the temporary stop position is parallel to the direction in which the one side extends, the method according to any one of items 1 to 10.

[0019] [Item 12] Determining the aforementioned temporary stopping position is To obtain information on which of the following should be prioritized: a short distance in the connecting path between the temporary stopping position and the end of travel position in the work area before stopping at the temporary stopping position, or a small curvature in the connecting path; The temporary stopping position is determined by generating the connection route based on the aforementioned priority items. The method described in any one of items 1 through 11, including the method described in item 1 through 11.

[0020] [Item 13] The aforementioned work area includes multiple crop rows, The method according to any one of items 1 to 12, wherein the path by which the work vehicle travels through the work area includes a path by which the work vehicle travels between the multiple rows of crops.

[0021] [Item 14] The method according to item 13, wherein the path by which the work vehicle travels through the work area further includes a path by which the work vehicle turns in the headland before and after traveling between the plurality of crop rows.

[0022] [Item 15] A control device that causes the work vehicle to travel along a path generated by the method described in any one of items 1 to 14.

[0023] [Item 16] A processing device that generates the route by performing the method described in any one of items 1 to 14, A control device and A driving control system equipped with this system.

[0024] [Item 17] The driving control system described in item 16, Running gear including the steering wheels, A drive unit that drives the aforementioned traveling device and A work vehicle equipped with the following features.

[0025] [Item 18] A processing device that generates a route for a work vehicle to which a work machine is attached to travel within a field, One or more processors, One or more memories for storing computer programs executed by the one or more processors mentioned above, Equipped with, The aforementioned route includes a temporary stopping position located within a peripheral area other than the work area within the field, which is provided along at least a portion of the outer perimeter of the field. The one or more processors execute the computer program, Based on the size of the work vehicle, the size of the work machine, and the positional relationship between the work vehicle and the work machine, the space defined by the trajectory of the work vehicle and the work machine when the work vehicle performs a predetermined turn is calculated. Based on the aforementioned space, the temporary stopping position is determined. A processing unit that executes this process.

[0026] [Item 19] A computer program executed by a processor in a processing device that generates a route for a work vehicle to which a work machine is attached to travel within a field, The aforementioned route includes a temporary stopping position located within a peripheral area other than the work area within the field, which is provided along at least a portion of the outer perimeter of the field. The aforementioned processor, Based on the size of the work vehicle, the size of the work machine, and the positional relationship between the work vehicle and the work machine, the space defined by the trajectory of the work vehicle and the work machine when the work vehicle performs a predetermined turn is calculated. Based on the aforementioned space, the temporary stopping position is determined. A computer program that executes something.

[0027] [Item 20] A control device that performs the method described in any one of items 1 through 14.

[0028] [Item 21] A computer program executed by a computer, A computer program that causes the computer to perform the steps described in any one of items 1 to 14.

[0029] [Item 22] A computer program medium that is executed by a computer, A computer program medium that causes the computer to execute the driving control method described in any one of items 1 to 14.

[0030] [Item 23] A system that generates a route for a work vehicle to which a work machine is attached to travel within a field, A route generation system having the control device described in item 20.

[0031] [Item 24] A processing device that generates a route for a work vehicle to which a work machine is attached to travel within a field, The aforementioned route includes a temporary stopping position located within a peripheral area other than the work area within the field, which is provided along at least a portion of the outer perimeter of the field. A means for calculating the space defined by the trajectory of the work vehicle and the work machine when the work vehicle performs a predetermined turn, based on the size of the work vehicle, the size of the work machine, and the positional relationship between the work vehicle and the work machine, Means for determining the temporary stopping position based on the aforementioned space A processing device that includes a processing device.

[0032] [Item 25] A vehicle driving control system for work vehicles, The processing apparatus described in item 24, A control device and A driving control system having the following features.

[0033] [Item 26] A vehicle driving control system for work vehicles, The processing apparatus described in item 24, A control device that causes the work vehicle to travel along the path generated by the processing device, A drive unit that drives the running gear of the aforementioned work vehicle and Equipped with, The control device is a driving control system that drives the work vehicle automatically by controlling the drive device based on the path generated by the processing device.

[0034] Comprehensive or specific embodiments of the present invention may be realized by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary storage media, or any combination thereof. Computer-readable storage media may include volatile storage media or non-volatile storage media. An apparatus may consist of multiple devices. If an apparatus consists of two or more devices, these two or more devices may be located in a single device or in two or more separate devices. [Effects of the Invention]

[0035] According to embodiments of the present invention, a driving control system, a work vehicle, and a driving control method are provided that can efficiently perform repetitive operations (including driving and other operations) of a work vehicle. [Brief explanation of the drawing]

[0036] [Figure 1] This is a schematic side view showing examples of work vehicles and work machines in embodiments of the present invention. [Figure 2] This diagram schematically shows an example of a route taken by a work vehicle with attached implements within a field. [Figure 3]This flowchart shows an example of a procedure for generating a route according to an embodiment of the present invention. [Figure 4] This diagram schematically illustrates another example of a route taken by a work vehicle with attached implements within a field. [Figure 5A] This is a block diagram showing a schematic configuration example of a driving control system 1000 according to an embodiment of the present invention. [Figure 5B] This is a block diagram showing an example configuration of the processing unit 530. [Figure 5C] This is a schematic diagram showing an example of the configuration of a driving control system according to an embodiment of the present invention. [Figure 6] This is a schematic block diagram illustrating a series of processes that can be performed by the processing apparatus in an embodiment of the present invention to generate a route for a work vehicle. [Figure 7] This flowchart shows an example of a process that may be performed in step S200. [Figure 8] This is a schematic diagram illustrating an example of how to calculate the first space. [Figure 9A] This is a schematic diagram illustrating an example of a method for determining a temporary stopping position based on the calculated first space. [Figure 9B] This is a schematic diagram illustrating an example of a method for determining a temporary stopping position based on the calculated first space. [Figure 10] This flowchart shows other examples of processes that may be performed in step S200. [Figure 11] This flowchart shows other examples of processes that may be performed in step S200. [Figure 12] This flowchart shows other examples of processes that may be performed in step S200. [Figure 13] This flowchart shows other examples of processes that may be performed in step S200. [Figure 14] This is a schematic top view illustrating the positional relationship between the work vehicle and the work machine that is towed and attached to the work vehicle. [Figure 15]This flowchart shows an example of a process that may be performed in step S400. [Figure 16] This is a schematic diagram illustrating an example of a method for determining a temporary stopping position. [Figure 17] This is a schematic side view of a work vehicle with other work equipment attached. [Figure 18] This is a schematic diagram illustrating an example of how to calculate the first space. [Figure 19] This is a schematic diagram illustrating an example of how to calculate the first space. [Figure 20] This is a schematic block diagram showing an example of the configuration of a work vehicle and work machine in an embodiment of the present invention. [Modes for carrying out the invention]

[0037] (Definition of terms) In this specification, “work vehicle” means a vehicle used to perform work in a work area. “Work area” is any place where work can be performed, such as a field, forest, or construction site. “Field” is any place where agricultural work can be performed, such as an orchard, farm, rice paddy, grain farm, or pasture. A work vehicle may be agricultural machinery such as a tractor, rice transplanter, combine harvester, riding cultivator, or riding mower, or a vehicle used for non-agricultural purposes, such as a construction vehicle or snowplow. A work vehicle may be configured to be equipped with work implements (also called “working devices” or “implements”) on at least one of its front and rear ends, depending on the work being performed. In particular, work implements attached to agricultural tractors are sometimes called “agricultural implements.” The act of a work vehicle driving while performing work with work implements may be referred to as “work driving.” The “operation” of a work vehicle includes not only the driving of the work vehicle but also other operations.

[0038] There are two main types of methods for connecting implements to work vehicles: "direct mounting" and "towing." In the direct mounting method, the implement is mounted on the front or rear of the work vehicle, with its orientation fixed relative to the orientation of the work vehicle. Implements connected in the direct mounting method are generally configured not to touch the ground while the work vehicle is moving (i.e., driving). In the towing method, the implement is connected to the rear of the work vehicle, with its orientation not fixed relative to the orientation of the work vehicle, and the implement is towed by the work vehicle. Towing implements may have wheels. Towing implements may or may not have their own power source for movement (driving).

[0039] In this specification, unless otherwise specified, the "orientation" of a work vehicle or work machine refers to the orientation of the work vehicle or work machine in a two-dimensional coordinate system. For example, it may refer to the orientation of the work vehicle or work machine as projected onto the xy-plane (i.e., the horizontal plane) where the direction opposite to the direction of gravity (vertically upward) is defined as the +z direction.

[0040] "Automated driving" means that the vehicle's movement is controlled by a control device, without manual operation by the driver. During automated driving, not only the vehicle's movement but also the operation of work (e.g., the operation of work equipment) may be controlled automatically. The movement of the vehicle under automated driving conditions is referred to as "automated driving." The control device can control at least one of the following necessary for the vehicle's movement: steering, adjustment of driving speed, starting and stopping the vehicle. When controlling a work vehicle equipped with work equipment, the control device may also control operations such as raising and lowering the work equipment and starting and stopping the operation of the work equipment. Driving under automated driving conditions may include not only driving the vehicle along a predetermined route toward a destination but also driving while following a target. In addition to automated driving mode, a vehicle performing automated driving may also operate in manual driving mode, where it is driven by the driver's manual operation. Driving under the driver's manual operation is referred to as "manual driving." "Driver's manual operation" includes not only manual operation by the driver on the vehicle but also remote operation by an operator outside the vehicle. A vehicle performing automated driving conditions may be driven partially based on the driver's manual operation. "Automatic steering" refers to the steering of a vehicle by a control device, without manual operation by the driver. Part or all of the control device may be located outside the vehicle. Communication, such as control signals, commands, or data, may take place between the external control device and the vehicle. A vehicle capable of autonomous driving may operate autonomously, sensing its surroundings without human intervention in controlling its movement. A vehicle capable of autonomous driving can operate unmanned. Obstacle detection and obstacle avoidance may occur during autonomous driving.

[0041] A "crop row" refers to a row of crops, trees, or other plants growing in a field such as an orchard or farm, or in a forest. In this specification, the term "crop row" includes the concept of "tree row."

[0042] (Embodiment) Embodiments of the present invention will be described below. However, unnecessarily detailed descriptions may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily verbose and to facilitate understanding for those skilled in the art. The inventors provide the accompanying drawings and the following description so that those skilled in the art can fully understand the present invention, and not to limit the subject matter described in the claims. In the following description, components having the same or similar function are denoted by the same reference numerals.

[0043] The following embodiments are illustrative, and the technology of the present invention is not limited to these embodiments. For example, the numerical values, shapes, materials, steps, and order of steps shown in the following embodiments are merely examples, and various modifications are possible as long as they do not create a technical inconsistency. Furthermore, it is possible to combine one embodiment with another.

[0044] [Route generation method and driving control system] This invention describes a path generation method according to an embodiment of the present invention, and a travel control system for driving a work vehicle along the path generated by the path generation method. The path generation method according to an embodiment of the present invention is a method for generating a path for a work vehicle to which a work implement is attached to travel within a field, and the path generation method and travel control system according to an embodiment of the present invention are applied to the travel of a work vehicle to which a work implement is attached within a field.

[0045] Figure 1 is a schematic side view showing an example of a work vehicle 100 and a work implement 300 connected to the work vehicle 100. Figure 2 is a schematic diagram showing an example of a route taken by the work vehicle 100 with the work implement 300 attached within the field 70. As shown in Figure 2, the work vehicle 100 travels along a route PPa within the work area 70A of the field 70 while performing work with the work implement 300. The work area 70A has, for example, multiple crop rows 20 as shown. For example, if the field 70 is an orchard such as a vineyard, the crop rows 20 may be rows of trees. In the work area 70A, the work vehicle 100 travels along the route PPa from the starting point 30S to the ending point 30G, passing between the multiple crop rows 20, while performing predetermined work (e.g., sowing, fertilizing, mowing, pest control, etc.) using the work implement 300. The path PPa along which the work vehicle 100 travels through the work area 70A further includes a path that makes turns in the headland before and after traveling between multiple crop rows 20.

[0046] The work performed using the implement 300 includes agricultural work that consumes agricultural materials such as seeds, fertilizers, pesticides, or seedlings (hereinafter sometimes simply referred to as "materials"). If the materials run out while the work vehicle 100 is driving and performing work in the work area 70A, it becomes necessary to replenish the materials. In such cases, the work vehicle 100 moves to the vicinity of the outer edge of the field 70 and stops temporarily to receive the materials. Figure 2 shows the work vehicle 100 stopped at the temporary stopping position Pr. After the materials are replenished at the temporary stopping position Pr, the work vehicle 100 returns to the work area 70A and resumes driving and performing work in the work area 70A.

[0047] In the route connecting a temporary stopping position Pr located outside the work area 70A to a route PPa within the work area 70A, it may be necessary for the work vehicle 100 to travel while turning. For example, in the illustrated example, the route connecting the temporary stopping position Pr and the route PPa within the work area 70A includes a connecting route PP2 connecting the temporary stopping position Pr and the work completion position 30I1 in the work area 70A before stopping at the temporary stopping position Pr, and a connecting route PP3 connecting the temporary stopping position Pr and the work resumption position 30I2 in the work area 70A after stopping at the temporary stopping position Pr. Both connecting routes PP2 and PP3 include turning sections. In particular, with respect to the turning section of connecting route PP3 after stopping at the temporary stopping position Pr, the temporary stopping position Pr must be determined considering the space required for the turning of the work vehicle 100 and the work implement 300 attached to the work vehicle 100. For example, the larger the size of the work implement 300, the larger the space required for turning. Furthermore, if the implement 300 is towed and connected to the work vehicle 100, when the work vehicle 100 starts moving, the implement 300 may move in the opposite direction to the steering direction of the work vehicle 100, so it is necessary to secure space for that as well. If the temporary stopping position Pr is located away from the outer perimeter of the field 70, sufficient space can be secured for the work vehicle 100 and the implement 300 to turn. On the other hand, since the vehicle supplying materials is often located outside the field 70, from the viewpoint of efficiently supplying materials, it is preferable that the temporary stopping position be as close as possible to the outer perimeter of the field 70.

[0048] As described below, according to embodiments of the present invention, based on the size of the implement 300 and the positional relationship between the implement 300 and the work vehicle 100 (for example, the method of connection to the work vehicle 100), the temporary stopping position Pr can be determined to be close to the outer perimeter of the field 70 while securing the space necessary for the work vehicle 100 and the implement 300 to turn. Therefore, the work vehicle 100 to which the implement 300 is connected can travel efficiently within the field 70. In work travel within the work area 70A, the timing of the need to replenish materials may differ each time, so it is conceivable that the temporary stopping position Pr and the route connecting the temporary stopping position Pr to the route PPa within the work area 70A will differ each time. According to embodiments of the present invention, route generation can be flexibly performed in accordance with the timing of material replenishment, thereby improving the efficiency of work travel. The route generation method and travel control system according to embodiments of the present invention can be used whether the implement is directly mounted or towed to the work vehicle.

[0049] Figure 3 is a flowchart showing an example of a procedure for generating a route according to an embodiment of the present invention. The route generation method according to an embodiment of the present invention is a method for generating a route for a work vehicle 100 to which a work implement 300 is attached to travel within a field 70, which is executed by one or more computing devices. The route includes a temporary stopping position Pr located within the peripheral area 70B, which is a peripheral area 70B other than the work area 70A within the field 70 and is provided along at least a part of the outer perimeter of the field 70. As shown in Figure 3, the procedure for generating a route includes: calculating the space defined by the trajectories of the work vehicle 100 and the work machine 300 when the work vehicle 100 makes a predetermined turn, based on the size of the work vehicle 100, the size of the work machine 300, and the positional relationship between the work vehicle 100 and the work machine 300 (step S200); determining a temporary stopping position Pr based on the space calculated in step S200 (step S400); and generating a route for the work vehicle 100 to travel within the field 70 based on the temporary stopping position Pr (step S600). In this specification, "calculating (or determining) based on something" means that it has some influence on the calculation (or determination), and does not exclude other factors that may also influence the calculation (or determination). For example, in step S400, the temporary stopping position Pr may be determined based on the space calculated in step S200 and other factors. The same applies when the phrase "based on" is used for purposes other than calculation or determination.

[0050] Figure 4 schematically shows another example of a route taken by a work vehicle 100 with an implement 300 attached within a field 70. The example shown in Figure 4 includes a route that makes a U-turn after stopping at a temporary stopping position Pr. Furthermore, as shown in the example in Figure 4, the route taken by the work vehicle 100 with the implement 300 attached within a field 70 may further include a route PP1 connecting the entrance / exit 73 of the field 70 to the starting point 30S of route PPa within the work area 70A, and / or a route PP4 connecting the end point 30G of route PPa within the work area 70A to the entrance / exit 73 of the field 70.

[0051] In the illustrated example, the work end position 30I1 in the work area 70A before stopping at the temporary stopping position Pr and the work restart position 30I2 in the work area 70A after stopping at the temporary stopping position Pr are different positions, but they may coincide.

[0052] Figure 5A is a block diagram showing a schematic configuration example of a travel control system 1000 according to an embodiment of the present invention. The travel control system 1000 comprises a processing device 530 that generates a route by executing a route generation method according to an embodiment of the present invention, and a control device 180 that causes a work vehicle 100 to travel along the route generated by the processing device 530.

[0053] The travel control system 1000 may be mounted on the work vehicle 100, or some or all of the processing performed by the travel control system 1000 may be performed by one or more computing devices located outside the work vehicle 100.

[0054] The processing unit 530 is one or more computing devices that perform the route generation method according to embodiments of the present invention. The processing unit 530 may be mounted on the work vehicle 100, or one or more computing devices located outside the work vehicle 100 may function as part or all of the processing unit 530. The processing unit 530 may comprise one or more processors and one or more memories. Part of the processing performed by the processing unit 530 may be performed, for example, within a group of sensors mounted on the work vehicle 100. If at least a part of the processing unit 530 is included in the work vehicle 100, the processing unit 530 and the group of sensors are communicated together, for example, via a bus. In addition, one or more server computers connected to a network, and / or one or more computing devices included in a terminal device connected to a network, may function as part or all of the processing unit 530.

[0055] The control device 180 is one or more computing devices that drive the work vehicle 100 along a path generated by the processing unit 530. The control device 180 can be implemented, for example, by one or more electronic control units (ECUs) mounted on the work vehicle 100. The control device 180 can enable the work vehicle 100 to travel automatically. The control device 180 can make the work vehicle 100 travel automatically along a path generated by the processing unit 530 by controlling the drive unit 240 that drives the travel unit of the work vehicle 100 based on the path generated by the processing unit 530. The travel control system 1000 may cause the processing unit 530 to generate or modify the target path of the work vehicle 100 as needed while the work vehicle 100 is traveling automatically. For example, when it becomes necessary to replenish materials while the work vehicle 100 is traveling within the work area 70A, a target path including a temporary stopping position may be generated. Alternatively, the remaining amount of materials may be detected while the work vehicle 100 is performing work within the work area 70A, and a target route including a temporary stopping position may be generated (or modified) as needed based on the remaining amount of materials. Note that the route generation method according to the embodiment of the present invention may also generate a route when the work vehicle 100 is manually driven. That is, the user may manually drive the work vehicle 100 based on the route generated by the processing unit 530.

[0056] Figure 5B is a block diagram showing an example configuration of the processing unit 530. In the example in Figure 5B, the processing unit 530 comprises a processor 531, a ROM (Read Only Memory) 533, a RAM (Random Access Memory) 535, a communication device 537, and a storage device 539. These components can be interconnected via a bus 532.

[0057] The processor 531 is a semiconductor integrated circuit, also known as a central processing unit (CPU) or microprocessor. The processor 531 may include an image processing unit (GPU). The processor 531 sequentially executes a computer program describing a predetermined set of instructions stored in the ROM 533, thereby realizing the processing necessary for path generation in the embodiment of the present invention. The processing unit 530 may comprise a plurality of processors 531. The processing necessary for path generation in the embodiment of the present invention may be performed collaboratively by the plurality of processors 531. Part or all of the processor 531 may be an FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), or ASSP (Application Specific Standard Product) equipped with a CPU.

[0058] The communication device 537 is an interface for data communication between the processing unit 530 and an external computing device. The communication device 537 can perform wired communication such as CAN (Controller Area Network), or wireless communication compliant with the Bluetooth® standard and / or Wi-Fi® standard.

[0059] The storage device 539 can store data and other information obtained during the process of generating a path. The storage device 539 includes, for example, a hard disk drive or a non-volatile semiconductor memory.

[0060] One example of a "control device" in embodiments of the present invention is a computing device comprising at least one processor and at least one memory for storing a computer program (code) that defines a control process executed by the processor. Another example of a "control device" is a computing device comprising a hardware accelerator such as an FPGA (Field-Programmable Gate Array), ASSP (Application Specific Standard Product), or ASIC (Application-Specific Integrated Circuit) configured to execute the control process.

[0061] Similarly, one example of a “processing device” in embodiments of the present invention is a computing device comprising at least one processor and at least one memory for storing a computer program (code) that defines a processing process to be performed by the processor. Another example of a “processing device” is a computing device comprising a hardware accelerator such as an FPGA or ASIC configured to perform a processing process.

[0062] In embodiments of the present invention, "processor" refers to hardware electronic circuits such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ISP (Image Signal Processor), or NPU (Neural Network Processing Unit). "Memory" refers to hardware electronic circuits such as ROM (Read Only Memory) or RAM (Random Access Memory). Part of the memory may be a storage medium connected to the processor by wiring or a network. These hardware electronic circuits may be implemented by one or more integrated circuits (ICs) or large-scale integrated circuits (LSIs). Each functional unit or block and associated component within the electronic circuit may be manufactured individually as separate integrated circuit chips, or some or all of these functional units or blocks may be combined and manufactured as a single integrated circuit chip.

[0063] A program defining the operation of the processor is designed to cause the processor to perform one or more functions, operations, steps, or processes in embodiments of the present invention.

[0064] Figure 5C is a schematic diagram showing an example configuration of a driving control system according to an embodiment of the present invention. Some or all of the functions of the processing unit 530 may be implemented by one or more servers (computers) 500 or terminal devices (including portable and fixed types) 600 connected to the communication device 537 of the processing unit 530 by a communication network 800. Other work vehicles (e.g., tractors) 700 may be connected to such a communication network 800, and communication may take place between the work vehicle 100 having the processing unit 530 and the other work vehicles 700. Some of the data used for processing by the processing unit 530 may be provided to the processing unit 530 from the other work vehicles 700 via the communication network 800.

[0065] Figure 6 is a schematic block diagram showing a series of processes that can be performed by the processing unit 530 in an embodiment of the present invention to generate a path for a work vehicle 100. The processing unit 530 performs the following processes: information acquisition 51 (acquisition of necessary information), trajectory calculation 52 (calculation of the trajectory of the work vehicle 100 and work machine 300 when the work vehicle 100 makes a predetermined turn), first space calculation 53 (calculation of the first space), temporary stopping position determination 54 (determination of the temporary stopping position Pr), and path generation 55 (generation of a path for the work vehicle 100 to travel within the field 70). Based on the information acquired in information acquisition 51, the trajectory calculation 52 process is performed. Based on the trajectory calculated in trajectory calculation 52, the first space calculation 53 process is performed. Based on the first space calculated in first space calculation 53, the temporary stopping position determination 54 process is performed. Based on the temporary stopping position Pr determined in temporary stopping position determination 54, the path generation 55 process is performed. In information acquisition 51, the processing unit 530 may acquire information from a storage device located inside or outside the work vehicle 100, or it may acquire information based on user input. Figure 6 shows examples of information 60 that can be input to the processing unit 530 in information acquisition 51, but these are illustrative examples, and it is not necessary to acquire all of them; one or more pieces of information (inputs) can be used in combination. Other information (inputs) not shown as examples may also be combined. Specific examples of information 60 may include the size of the work vehicle and work machine 61, the positional relationship between the work vehicle and the work machine 62, the turning direction and turning angle 63, the upper limit of the allowable steering angle of the work vehicle 64, the allowable direction of travel of the work vehicle 65, the method of connecting the work machine to the work vehicle 66, the upper limit of the allowable bending angle 67, etc. Processing using each of the specific examples of information 60 will be described below.

[0066] The details and specific examples of the processes performed in each of the steps shown in Figure 3 will be explained below.

[0067] (Calculation of space defined by the trajectory) Referring to Figures 7 and 8, an example of a process that may be performed in step S200 will be explained. Figure 7 is a flowchart of an example of a process that may be performed in step S200. As described above, in step S200, based on the size of the work vehicle 100, the size of the work machine 300, and the positional relationship between the work vehicle 100 and the work machine 300, the space defined by the trajectory of the work vehicle 100 and the work machine 300 when the work vehicle 100 performs a predetermined turn (hereinafter sometimes referred to as the "first space") is calculated.

[0068] Figure 8 is a schematic diagram illustrating an example of the calculation method for the first space. It shows the movement of the work vehicle 100, which involves turning, from a temporary stopping position Pr, through position P0, to position P1. It is assumed that the turning of the work vehicle 100 is completed at position P1. In the example in Figure 8, a work machine 300 having wheels 304R is towed to the work vehicle 100.

[0069] For example, as shown in Figure 7, in step S200, the following steps S222, S224, and S226 may be performed.

[0070] In step S222, information on the direction and angle of a predetermined turn is obtained. The information on the direction of the turn includes, for example, whether it is clockwise or counterclockwise. The information on the angle of the turn includes, for example, information on how many degrees the orientation of the work vehicle 100 changes due to the predetermined turn. In the example in Figure 8, the orientation of the work vehicle 100 before the turn (i.e., the orientation of the work vehicle 100 at the temporary stopping position Pr) is in the -x direction in the figure, the orientation of the work vehicle 100 after the turn (i.e., the orientation of the work vehicle 100 at position P1) is in the +y direction in the figure, the direction of the turn is clockwise, and the angle of the turn is 90°.

[0071] This information regarding turning may be obtained, for example, based on user input, or based on sensing data of the environment around the work vehicle 100 acquired while the work vehicle 100 is in motion. Sensing data of the environment around the work vehicle 100 may be obtained, for example, by external sensors (e.g., cameras, LiDAR sensors) on the work vehicle 100. Information regarding a predetermined turning may also be obtained based on topographic data or map data of the field 70 recorded in a storage device located inside or outside the work vehicle 100.

[0072] In step S224, based on the information on the turning direction and turning angle of a predetermined turn obtained in step S222, the trajectory of the work vehicle 100 and the work machine 300 when the work vehicle 100 performs a predetermined turn is calculated. The trajectory of the work vehicle 100 and the work machine 300 may be determined by simulation or by using a predetermined relational equation or model equation. In calculating the trajectory, the size of the work vehicle 100, the size of the work machine 300, and the positional relationship between the work vehicle 100 and the work machine 300 are also used. The size of the work vehicle 100 includes the length in the front-rear direction and the length (width) in the left-right direction. The size of the work machine 300 includes the length in the front-rear direction and the length (width) in the left-right direction. Information on the work machine 300 is recorded in an internal or external storage device of the work vehicle 100, for example, in association with information on the type (model) of the work machine 300. An example of the method for calculating the trajectory will be described later.

[0073] In step S226, the first space is calculated based on the trajectory calculated in step S224. In the example in Figure 8, calculating the first space includes, for example, determining the following lengths for the trajectories of the work vehicle 100 and the work machine 300 when the work vehicle 100 performs a predetermined turn. • The length of the trajectory in a direction parallel to the orientation of the work vehicle 100 before turning (the -x direction in the diagram) (sometimes referred to as the "first direction") (sometimes referred to as the "first length") Lf • Of the length of the trajectory in a direction that intersects (for example, perpendicular to) the first direction (sometimes called the "second direction"), the length that increases in the direction opposite to the direction of the turn, based on the length of the work vehicle 100 in the second direction before the turn (sometimes called the "second length") Ls

[0074] The first length Lf is used as a value indicating the length in the direction of travel required for turning. The first length Lf can be, for example, as shown in the figure, the distance in the first direction from the axle of the rear wheels 104R of the work vehicle 100 before turning (i.e., the work vehicle 100 at temporary stopping position Pr) to the centerline of the work vehicle 100 after turning (i.e., the work vehicle 100 at position P1) (i.e., the straight line connecting the center points of the left and right front wheels 104F and the center points of the left and right rear wheels 104R). The second length Ls is used as a value indicating the length in the width direction that expands to the opposite side of the direction of travel due to turning.

[0075] In step S400, the temporary stopping position Pr is determined based on the first space calculated in step S226. For example, the temporary stopping position Pr is determined based on the first length Lf and second length Ls calculated in step S226.

[0076] Figures 9A and 9B are schematic diagrams illustrating an example of a method for determining a temporary stopping position Pr based on a calculated first space. For example, as shown in Figure 9A, the temporary stopping position Pr is determined such that a rectangle 72, determined by a first length Lf and a second length Ls, is contained within the field 70 (i.e., does not extend beyond the field 70). In the example of Figure 9B, the rectangle 72 extends beyond the field 70, making it impossible to turn within the field 70. By determining the temporary stopping position Pr such that the rectangle 72 is contained within the field 70, as shown in Figure 9A, the space necessary for turning can be secured within the field 70. The temporary stopping position Pr can be determined as the position of a reference point of the work vehicle 100. The reference point of the work vehicle 100 can be, for example, on the axle of the rear wheels 104R of the work vehicle 100 and at the center point of the left and right rear wheels 104R. In this example, the length 72x in the first direction of the rectangle 72 is the same as the first length Lf. The length 72y in the second direction of the rectangle 72 can be the sum of the maximum width Wv of the work vehicle 100 to which the work implement 300 is attached (i.e., the length in the left-right direction) and the second length Ls. The width Wv can be determined by the larger of the width of the work implement 300 or the width of the work vehicle 100. The length 72x in the first direction and the length 72y in the second direction of the rectangle 72 may differ depending on the position of the reference point of the work vehicle 100.

[0077] For example, in the example shown in Figure 9A, the temporary stopping position Pr is determined such that the rectangle 72 is included in a predetermined area 70P within the surrounding area 70B of the field 70. The predetermined area 70P is, for example, located adjacent to the outer perimeter of the field 70. The predetermined area 70P may be determined, for example, by its positional relationship with a vehicle that supplies materials. Information about the predetermined area 70P may be recorded, for example, in a storage device located inside or outside the work vehicle 100, and the processing device 530 may acquire information about the predetermined area 70P from the storage device. Alternatively, information about the predetermined area 70P may be acquired based on user input.

[0078] Furthermore, in the example shown in Figure 9A, the outer perimeter of the field 70 has a shape that includes multiple sides (in this example, a rectangle with four sides). The temporary stopping position Pr can be determined such that the temporary stopping position Pr is located near one of the sides 71a of the outer perimeter of the field 70, and the orientation of the work vehicle 100 at the temporary stopping position Pr is parallel to the direction in which side 71a extends (in this example, the x-direction). When the work vehicle 100 at the temporary stopping position Pr is located near side 71a of the outer perimeter of the field 70, and the orientation of the work vehicle 100 at the temporary stopping position Pr is parallel to side 71a, it may be easier to supply materials. In other words, the work related to supplying materials can be carried out efficiently.

[0079] (Calculation of the trajectory) Referring to Figures 10 to 13, other examples of methods for calculating the trajectories of the work vehicle 100 and work machine 300 will be explained. The calculation methods explained with reference to Figures 10 to 13 and the calculation method explained with reference to Figure 7 can be used in combination of one or more of them.

[0080] Figure 10 is a flowchart showing another example of the process that may be performed in step S200. The flowchart in Figure 10 differs from the flowchart in Figure 7 in that it has steps S222a and S224a instead of steps S222 and S224.

[0081] In step S222a, information is obtained regarding the upper limit of the steering angle of the work vehicle 100 that is permissible when the work vehicle 100 performs a predetermined turn. The information regarding the upper limit of the permissible steering angle can be obtained, for example, based on user input. For example, the user may set an upper limit of the steering angle that allows the control of the work implement 300 during the turn with a predetermined or higher accuracy. The upper limit of the steering angle may be set as the permissible steering angle by comparing the upper limit of the steering angle input by the user with the maximum steering angle (i.e., the steering angle that allows for the tightest turn) when the work vehicle 100 to which the work implement 300 is attached turns a steady circle. The smaller of these two values ​​may be used as the upper limit of the permissible steering angle. The maximum steering angle may be determined by simulation or by using a predetermined relational expression (for example, equation (d) in Figure 14 described later).

[0082] As another example, the upper limit of the permissible steering angle may be predetermined according to the size and connection method of the implement 300. In such a case, information on the upper limit of the permissible steering angle can be recorded in a storage device inside or outside the work vehicle 100 as data (e.g., a table) associated with the type (model) of the implement 300. Alternatively, the upper limit of the permissible steering angle may be determined based on the topographic data or map data of the field 70, for example, according to the shape of the field 70. The topographic data or map data of the field 70 is recorded, for example, in a storage device located inside or outside the work vehicle 100.

[0083] In step S224a, the trajectory of the work vehicle 100 and the work implement 300 when the work vehicle 100 performs a predetermined turn is calculated based on the upper limit of the steering angle obtained in step S222a. For example, the trajectory of the work vehicle 100 and the work implement 300 may be calculated by fixing the steering angle of the work vehicle 100 to a value less than or equal to the upper limit. By setting an upper limit of the allowable steering angle and calculating the trajectory, the control of the work implement 300 during turning can be performed with high precision. In particular, this effect can be significantly obtained in the case of a towed work implement 300.

[0084] In step S226, the first space is calculated based on the trajectory calculated in step S224a. The process in step S226 can be carried out in the same way as in step S226 in the flowchart of Figure 7.

[0085] Figure 11 is a flowchart showing another example of the process that may be performed in step S200. The flowchart in Figure 11 differs from the flowchart in Figure 7 in that it has steps S222b and S224b instead of steps S222 and S224.

[0086] In step S222b, information is obtained about one or more permissible movements (directions of travel) selected from forward, reverse, right turn, and left turn movements as the work vehicle 100 travels along the connecting path PP3 that connects the temporary stopping position Pr and the work resumption position 30I2 in the work area 70A after stopping at the temporary stopping position Pr. For example, in the example shown in Figure 8, forward and right turn movements are permissible. Information about permissible movements can be obtained, for example, based on user input.

[0087] In step S224b, the trajectory of the work vehicle 100 and the work implement 300 when the work vehicle 100 performs a predetermined turn is calculated based on one or more permissible actions obtained in step S222b. That is, the trajectory of the work vehicle 100 and the work implement 300 when performing a predetermined turn defined by the turning direction and turning angle is calculated based only on one or more permissible actions. When the work implement 300 is attached to the work vehicle 100, in particular when the work implement 300 is towed to the work vehicle 100, controlling the work implement 300 when the work vehicle 100 is moving in reverse can be difficult. By calculating the turning trajectory based on permissible actions, for example, the temporary stopping position Pr can be determined so that the work vehicle 100 can travel without moving in reverse before and after the temporary stopping position Pr. The user can specify actions (directions of travel) of the work vehicle 100 that they want to avoid before and after the temporary stopping position Pr.

[0088] In step S226, the first space is calculated based on the trajectory calculated in step S224b. The process in step S226 can be carried out in the same way as in step S226 in the flowchart of Figure 7.

[0089] Figures 12 and 13 are flowcharts illustrating other possible processes that may occur in step S200. The flowchart in Figure 12 differs from the flowchart in Figure 7 in that it includes steps S222c and S224c instead of steps S222 and S224. The flowchart in Figure 13 differs from the flowchart in Figure 12 in that it includes steps S224c1 to S224c4 as processes performed in step S224c.

[0090] In step S222c, information on the method of connecting the work implement 300 to the work vehicle 100 is obtained. This information includes, for example, whether it is a direct-mount or pull-type connection. The information on the method of connecting the work implement 300 to the work vehicle 100 may be recorded in an internal or external storage device of the work vehicle 100 as data (e.g., a table) associated with the type (model) of the work implement 300.

[0091] In step S224c, based on the positional relationship between the work vehicle 100 and the work implement 300, which was obtained in step S222c based on the method of connecting the work implement 300 to the work vehicle 100, the trajectory of the work vehicle 100 and the work implement 300 when the work vehicle 100 performs a predetermined turn is calculated. Specifically, for example, the processing of steps S224c1 to 224c4 shown in Figure 13 is performed.

[0092] In step S224c1, based on the information obtained in step S222c, it is determined whether the method of connecting the work implement 300 to the work vehicle 100 is such that the work implement 300 is connected to the work vehicle 100 with its orientation fixed relative to the orientation of the work vehicle 100. For example, if the work implement 300 is directly mounted to the work vehicle 100, the orientation of the work implement 300 is fixed relative to the orientation of the work vehicle 100, so the answer is "Yes". If the work implement 300 is towed to the work vehicle 100, the orientation of the work implement 300 is not fixed relative to the orientation of the work vehicle 100, so the answer is "No".

[0093] If the answer in step S224c1 is "Yes", the process proceeds to step S224c2, in which the trajectories of the work vehicle 100 and the work machine 300 are calculated based on the relative positions of the work vehicle 100 and the work machine 300 when the work vehicle 100 performs a predetermined turn.

[0094] If the answer in step S224c1 is "No", the process proceeds to step S224c3, where information is obtained on the upper limit of the angle difference between the orientation of the work vehicle 100 and the orientation of the work machine 300 (angle β in Figure 14, described later), which is permissible when the work vehicle 10 performs a predetermined turn. The angle difference between the orientation of the work vehicle 100 and the orientation of the work machine 300 is sometimes called the "bending angle". Information on the upper limit of the permissible bending angle can be obtained, for example, based on user input. For example, the user may set an upper limit of the bending angle that allows the towed work machine 300 to be controlled with a predetermined or higher accuracy during the turn. In step S224c4, the trajectories of the work vehicle 100 and the work machine 300 when the work vehicle 100 performs a predetermined turn are calculated based on the positional relationship between the work vehicle 100 and the work machine 300 and the upper limit of the angle difference obtained in step S224c3.

[0095] In step S226, the first space is calculated based on the trajectory calculated in step S224c2 or step S224c4. The process in step S226 can be carried out in the same way as in step S226 in the flowchart of Figure 7.

[0096] Referring to Figure 14, an example of a method for calculating the trajectories of the work vehicle 100 and the work machine 300 will be explained. Figure 14 is a schematic top view illustrating the positional relationship between the work vehicle 100 and the work machine 300, which is towed and connected to the work vehicle 100. Each symbol in Figure 14 represents the following: l1: Distance between the axle of the front wheel 104F and the axle of the rear wheel 104R of the work vehicle 100. l2: Distance between the connection point between the work vehicle 100 and the work implement 300, and the axle of the wheel 304R of the work implement 300. h: Distance between the axle of the rear wheel 104R of the work vehicle 100 and the connection point between the work vehicle 100 and the work machine 300. Point A: Center of the axle of the front wheel 104F of work vehicle 100. Point B: Center of the axle of the rear wheel 104R of work vehicle 100. Point C: Connection point between work vehicle 100 and work machine 300 Point D: Center of the axle of wheel 304R of work machine 300. θ1: Direction of work vehicle 100 θ2: Orientation of the work machine 300 α: Steering angle (rad) β: The angle (bending angle) (rad) of the difference between the orientation of work vehicle 100 and the orientation of work machine 300. Let the x and y coordinates of point B be (x1, y1), and the x and y coordinates of point D be (x2, y2).

[0097] For example, equations (a) to (c) can be used to calculate the trajectories of the work vehicle 100 and the work implement 300. Equations (a) to (c) are the equations of motion for the work vehicle 100 and the work implement 300 when moving forward at a very low constant speed V (m / s) with the steering angle α fixed. Equation (a) is the equation of motion for the work vehicle 100. Equation (b) is the equation of motion for the work implement 300 directly mounted to the work vehicle 100, including equations (b1) and (b2). Equation (c) is the equation of motion for the work implement 300 towed to the work vehicle 100, including equations (c1) and (c2). Very low speed is a vehicle speed at which sideslip is negligible. When determining the trajectories of the work vehicle 100 and the work machine 300 using equations (a) to (c), the vehicle speed of the work vehicle 100 is preferably 0.5 m / s (0.5 meters per second) or less, and more preferably 0.2 m / s (0.2 meters per second) or less. Details of equations (a) to (c) are described in Ryo Torisu et al., "Basic Equations Representing the Motion of Connected Vehicles at Extremely Low Speeds," Journal of the Japanese Society of Agricultural Machinery 52(5):27~34 (1990).

[0098] (Determination of temporary stopping position) Referring to Figures 15 and 16, an example of the process that may be performed in step S400 (determination of the temporary stopping position) will be explained. Figure 15 is a flowchart of an example of the process that may be performed in step S400. As described above, in step S400, the temporary stopping position Pr is determined based on the first space calculated in step S200. Figure 16 is a schematic diagram illustrating an example of a method for determining the temporary stopping position Pr.

[0099] As shown in Figure 16, there may be multiple options for the temporary stopping position Pr. In the example in Figure 16, positions Pra and Prb are shown as candidates for the temporary stopping position Pr. Both positions Pra and Prb can be determined based on the first space calculated in step S200. That is, regardless of whether position Pra or Prb is chosen as the temporary stopping position, the space necessary for turning can be secured (in the illustrated example, the rectangle determined by the first length Lf and the second length Ls will be contained within a predetermined area 70P of the field 70). The candidate connecting paths PP2 corresponding to positions Pra and Prb, which are candidates for the temporary stopping position Pr, are designated as paths PP2a and PP2b, respectively. Note that, for simplicity, the drawing shows two positions, Pra and Prb, as candidates for the temporary stopping position Pr, but there may be three or more candidates for the temporary stopping position Pr and their corresponding paths. Candidates for the temporary stopping position Pr are not limited to multiple points existing discretely, but may also exist continuously within a region having a finite area.

[0100] As shown in Figure 15, in step S400, the following steps S422, S424, and S426 may be performed.

[0101] In step S422, information is obtained on which of the following should be prioritized: a short distance for the connecting path PP2 between the temporary stopping position Pr and the work completion position 30I1 in the work area 70A before stopping at the temporary stopping position Pr, or a small curvature for the connecting path PP2. The user may input which of the following should be prioritized, and the information on the priority may be obtained based on the user's input. Alternatively, the information on the priority may be obtained based on the topographic data or map data of the field 70.

[0102] In step S424, a connection path PP2 is generated based on the priority items obtained in step S422. For example, in the example in Figure 16, if the priority is on a short distance for connection path PP2, connection path PP2b is generated, and if the priority is on a small curvature for connection path PP2, connection path PP2a is generated.

[0103] In step S426, the temporary stopping position Pr is determined based on the connection route PP2 generated in step S424. For example, in the example in Figure 16, if the connection route PP2b is generated, the temporary stopping position Prb is determined, and if the connection route PP2a is generated, the temporary stopping position Pra is determined. In this way, the temporary stopping position Pr can be selected from multiple options based on, for example, user-defined priorities. If a short distance for the connection route PP2 is prioritized, the travel time of the work vehicle 100 can be reduced. If a small curvature for the connection route PP2 is prioritized, the disturbance of the field 70 ground caused by the movement of the work vehicle 100 can be suppressed, thereby reducing the load on the field 70 ground.

[0104] Furthermore, if there are multiple options for the temporary stopping position Pr, the temporary stopping position Pr may be determined based on information regarding which of the following should be prioritized: a shorter distance for the connecting path PP3 between the temporary stopping position Pr and the work resumption position 30I2 in the work area 70A after stopping at the temporary stopping position Pr, or a smaller curvature for the connecting path PP3.

[0105] (Other examples of work machines) Figure 17 is a schematic side view of a work vehicle 100 with another work implement 300a attached. In the work vehicle 100 shown in Figure 17, a front loader 300a is attached to the front of the work vehicle 100 as a work implement. The front loader 300a is directly mounted to the work vehicle 100.

[0106] Referring to Figures 18 and 19, an example of the method for calculating the first space in the example of Figure 17 will be described. Figures 18 and 19 are schematic diagrams illustrating an example of the method for calculating the first space. Figure 18 shows the work vehicle 100, to which the implement 300a is attached, positioned at the work end position 30I1 in the work area 70A before stopping at the temporary stop position Pr, positioned at the temporary stop position Pr, and positioned at the work restart position 30I2 in the work area 70A after stopping at the temporary stop position Pr. In this example, a material storage area 70q for supplying materials to be transported by the implement 300a is provided within a predetermined area 70P in the field 70. The connecting path PP2 from the work end position 30I1 to the temporary stop position Pr includes forward and right turns in the direction of travel of the work vehicle 100. On the other hand, in the connecting path PP3 from the temporary stopping position Pr to the work resumption position 30I2, the direction of travel (operation) of the work vehicle 100 includes reverse.

[0107] As shown in Figure 19, in the example of Figure 18, as in the example of Figure 8, the first space can be calculated by determining the first length Lf and the second length Ls of the trajectory of the work vehicle 100 and the work machine 300 when the work vehicle 100 performs a predetermined turn. In the example of Figure 19, the work vehicle 100 is shown moving backward with a turn from a temporary stopping position Pr, through position P2, to position P3. Assume that the turn of the work vehicle 100 is completed at position P3. In the example of Figure 19, the orientation of the work vehicle 100 before the turn (i.e., the orientation of the work vehicle 100 at the temporary stopping position Pr) is in the -x direction in the figure, the orientation of the work vehicle 100 after the turn (i.e., the orientation of the work vehicle 100 at position P1) is in the -y direction in the figure, the turning direction is counterclockwise, and the turning angle is 90°.

[0108] [Outline of the work vehicle configuration] Figure 20 is a block diagram schematically showing an example configuration of the work vehicle 100 and work machine 300. The configuration of the work vehicle 100 and work machine 300 will be explained with reference to Figure 1. In the case of the work vehicle 100 to which the front loader 300a shown in Figure 17 is attached, explanations of matters common to the example in Figure 1 will be omitted.

[0109] As shown in Figures 1 and 20, the work vehicle 100 includes a positioning device 110 (e.g., a GNSS unit) that outputs position data related to the position of the work vehicle 100, a group of sensors 150 that detects the state of the work vehicle 100 and outputs sensor data, and a control device 180 that controls the operation of the work vehicle 100. The group of sensors 150 includes one or more sensors.

[0110] The work vehicle 100 may further be equipped with multiple external sensors that sense the surroundings of the work vehicle 100. "External sensors" are sensors that sense the external conditions of the work vehicle. In the example in Figure 1, the external sensors include multiple LiDAR sensors 140, multiple cameras 120, and multiple obstacle sensors 130.

[0111] In the example shown in Figure 20, the work vehicle 100 includes a positioning device 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, a sensor group 150, a storage device 170, a control device 180, and an operating terminal 200, as well as a communication device 190, an operating switch group 210, and a drive device 240 (sometimes referred to as the "first drive device"). These components are connected to each other via a bus so as to be able to communicate with one another.

[0112] As shown in Figure 1, the work vehicle 100 comprises a body 101, a prime mover (engine) 102, and a transmission 103. The body 101 is provided with a running gear including wheels with tires 104 and a cabin 105. The running gear includes four wheels 104, axles that rotate the four wheels, and brakes that brake each axle. The wheels 104 include a pair of front wheels 104F and a pair of rear wheels 104R. Inside the cabin 105 are a driver's seat 107, a steering gear 106, an operating terminal 200, and a group of switches for operation. One or both of the front wheels 104F and the rear wheels 104R may be replaced with multiple wheels fitted with tracks (crawlers) instead of wheels with tires.

[0113] The prime mover 102 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 103 can change the propulsion force and travel speed of the work vehicle 100 by shifting gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse.

[0114] The steering system 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering system that assists steering by the steering wheel. The front wheels 104F are steering wheels, and the direction of travel of the work vehicle 100 can be changed by changing their steering angle (also referred to as the "steering angle"). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering system includes a hydraulic system or electric motor that supplies auxiliary force to change the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic system or electric motor under control from a control device located inside the work vehicle 100.

[0115] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also called a "three-point hitch" or "three-point link"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The coupling device 108 allows the work implement 300 to be attached to and detached from the work vehicle 100. The coupling device 108 can change the position or orientation of the work implement 300 by raising and lowering the three-point hitch, for example, by a hydraulic system. Power can also be supplied from the work vehicle 100 to the work implement 300 via the universal joint. The work vehicle 100 can pull the work implement 300 and have the work implement 300 perform a predetermined task. The coupling device may be provided at the front of the vehicle body 101. In that case, the work implement can be connected to the front of the work vehicle 100.

[0116] The implement 300 shown in Figure 1 is a sprayer for spraying chemicals onto crops, but the implement 300 is not limited to a sprayer. For example, any implement such as a mower, seeder, spreader, rake, baler, harvester, plow, harrow, or rotary tiller can be connected to the work vehicle 100 and used.

[0117] An example of a work machine, the front loader 300a shown in Figure 17, comprises a support frame 301, a boom 302, a front attachment (a bale grab in this example) 303, a cylinder 304, and a boom cylinder 305. The support frame 301 is fixed to the frame of the vehicle body 101. The boom 302 has an arm-like structure and is rotatably supported on the support frame 301 so as to extend forward and upward of the vehicle. The front attachment 303 is rotatably supported by the end of the boom 302. The front loader 300a is connected to the vehicle body 101 via a hydraulic coupler and a power connector. The front loader 300a is equipped with a hydraulic system having a hydraulic valve and operates under hydraulic control. Specifically, the boom 302 can be rotated around a pivot axis located at the boom fulcrum by hydraulically extending and retracting the boom cylinder 305. This makes it possible to raise and lower the front loader 300a (or front attachment 303).

[0118] Refer to Figure 1 again. The positioning device 110 receives satellite signals (also called GNSS signals) transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the positioning device 110 is located on top of the cabin 105, but it may be located in other positions.

[0119] As shown in Figure 20, the positioning device 110 comprises a GNSS receiver 111, an RTK receiver 112, and a processing circuit 116. The positioning device 110 may further include an inertial measurement unit (IMU) 115.

[0120] The GNSS receiver 111 includes an antenna for receiving signals from GNSS satellites and a processing circuit for determining the position of the work vehicle 100 based on the signals received by the antenna. The GNSS receiver 111 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as NMEA-0183 format. The GNSS data may include, for example, the identification number, elevation angle, azimuth angle, and received signal strength of each satellite from which the satellite signal was received.

[0121] The positioning device 110 may perform positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. In RTK-GNSS positioning, in addition to satellite signals transmitted from multiple GNSS satellites, correction signals transmitted from a base station are used. The base station may be installed near the work site where the work vehicle 100 will be driving (for example, within 10 km of the work vehicle 100). Based on the satellite signals received from multiple GNSS satellites, the base station generates a correction signal, for example, in RTCM format and transmits it to the positioning device 110. The RTK receiver 112 includes an antenna and a modem and receives the correction signal transmitted from the base station. The processing circuit 116 of the positioning device 110 corrects the positioning result from the GNSS receiver 111 based on the correction signal. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, an error of a few centimeters. Position information, including latitude, longitude, and altitude information, is acquired by high-precision positioning using RTK-GNSS. The positioning device 110 calculates the position of the work vehicle 100 at a frequency of, for example, 1 to 10 times per second. The positioning method is not limited to RTK-GNSS; any positioning method that can obtain the necessary accuracy of positional information (such as interferometric positioning or relative positioning) can be used. For example, positioning may be performed using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System).

[0122] The positioning device 110 in this embodiment further includes an IMU 115. By including the IMU 115, the positioning device 110 can supplement position data using signals from the IMU 115. By supplementing position data based on satellite signals using data acquired by the IMU 115, the positioning performance can be improved.

[0123] The IMU115 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU115 may also be equipped with an orientation sensor, such as a 3-axis geomagnetic sensor. The IMU115 functions as a motion sensor and can output signals indicating various quantities such as acceleration, velocity, displacement, and attitude of the work vehicle 100. The processing circuit 116 can estimate the position and orientation of the work vehicle 100 with higher accuracy based on the signals output from the IMU115 in addition to the satellite signals and correction signals. The signals output from the IMU115 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU115 outputs signals at a higher frequency than the GNSS receiver 111. For example, the IMU115 outputs signals at a frequency of several tens to several thousand times per second. Using these high-frequency signals, the processing circuit 116 can measure the position and orientation of the work vehicle 100 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU115, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. The IMU 115 may be provided as a separate device from the positioning device 110.

[0124] The sensor group 150 may include various sensors (i.e., internal sensors) that detect the state of the work vehicle 100 or work machine 300. For example, the sensor group 150 may include a steering wheel sensor 152, a steering angle sensor 154, and an axle sensor 156.

[0125] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The steering angle sensor 154 measures the steering angle of the front wheels 104F, which are the steering wheels. The values ​​measured by the steering wheel sensor 152 and the steering angle sensor 154 can be used for steering control by the control device 180.

[0126] The axle sensor 156 measures the rotational speed of the axle connected to the wheel 104, i.e., the number of rotations per unit time. The axle sensor 156 may be a sensor that utilizes, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs a numerical value indicating, for example, the number of rotations of the axle per minute (unit: rpm). The axle sensor 156 is used to measure the speed of the work vehicle 100. The value measured by the axle sensor 156 can be used for speed control by the control device 180.

[0127] The storage device 170 includes one or more storage media, such as flash memory or magnetic disks. The storage device 170 stores various data generated by the positioning device 110, camera 120, obstacle sensor 130, LiDAR sensor 140, sensor group 150, and control device 180. The data stored in the storage device 170 may include an environmental map of the environment in which the work vehicle 100 travels, an obstacle map that is generated sequentially during travel, and route data for autonomous driving. The storage device 170 also stores computer programs that cause each ECU in the control device 180 to perform various operations described later. Such computer programs may be provided to the work vehicle 100 via a storage medium (e.g., semiconductor memory or optical disk) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0128] The control device 180 includes a plurality of ECUs. These plurality of ECUs include, for example, an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for work equipment control, and an ECU 184 for automatic driving control.

[0129] The ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, and the brakes, which are included in the drive unit 240.

[0130] The ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic system or electric motor included in the steering device 106 based on the measurements of the steering wheel sensor 152.

[0131] The ECU 183 controls the operation of the three-point hitch and PTO shaft, etc., included in the coupling device 108, in order to make the work implement 300 perform the desired operation. The ECU 183 also generates signals to control the operation of the work implement 300 and transmits these signals from the communication device 190 to the work implement 300.

[0132] The ECU 184 performs calculations and controls to achieve autonomous driving based on data output from the positioning device 110, camera 120, obstacle sensor 130, LiDAR sensor 140, and sensor group 150. For example, the ECU 184 estimates the position of the work vehicle 100 based on data output from at least one of the positioning device 110, camera 120, and LiDAR sensor 140. In situations where the reception strength of satellite signals from GNSS satellites is sufficiently high, the ECU 184 may determine the position of the work vehicle 100 based only on data output from the positioning device 110. On the other hand, in environments such as orchards where there are obstacles such as trees that obstruct the reception of satellite signals around the work vehicle 100, the ECU 184 estimates the position of the work vehicle 100 using data output from the LiDAR sensor 140 or camera 120. During autonomous driving, the ECU 184 performs calculations necessary for the work vehicle 100 to travel along the target path based on the estimated position of the work vehicle 100. ECU184 sends a command to ECU181 to change speed and a command to ECU182 to change steering angle. ECU181 changes the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, or the brakes in response to the command to change speed. ECU182 changes the steering angle by controlling the steering device 106 in response to the command to change steering angle.

[0133] Through the operation of these ECUs, the control unit 180 enables autonomous driving. During autonomous driving, the control unit 180 controls the drive unit 240 based on the measured or estimated position of the work vehicle 100 and the sequentially generated target path. This allows the control unit 180 to drive the work vehicle 100 along the target path.

[0134] Multiple ECUs included in the control unit 180 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In Figure 20, each of the ECUs 181 to 184 is shown as a separate block, but each of their functions may be implemented by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 181 to 184 may be provided. The control unit 180 may also include ECUs other than ECUs 181 to 184, and any number of ECUs may be provided depending on their function. Each ECU includes a processing circuit containing one or more processors.

[0135] Cameras 120 may be installed, for example, on the front, rear, left, and right sides of the work vehicle 100. Cameras 120 capture images of the environment around the work vehicle 100 and generate image data. The images acquired by cameras 120 may be transmitted, for example, to a terminal device for remote monitoring. These images may be used to monitor the work vehicle 100 during unmanned operation. Cameras 120 may be installed as needed, and their number is arbitrary.

[0136] The LiDAR sensor 140 is an example of an external sensor that outputs sensor data showing the distribution of features around the work vehicle 100. In the example in Figure 1, two LiDAR sensors 140 are located at the front and rear of the cabin 105. The LiDAR sensors 140 may be located in other places (for example, at the lower front of the vehicle body 101). Each LiDAR sensor 140 repeatedly outputs sensor data showing the distance and direction to each measurement point of an object in the surrounding environment, or the two-dimensional or three-dimensional coordinate values ​​of each measurement point, while the work vehicle 100 is in motion. The number of LiDAR sensors 140 is not limited to two; it may be one or three or more.

[0137] The LiDAR sensor 140 may be configured to output two-dimensional or three-dimensional point cloud data as sensor data. In this specification, “point cloud data” broadly means data showing the distribution of multiple reflection points observed by the LiDAR sensor 140. The point cloud data may include, for example, the coordinate values ​​of each reflection point in two-dimensional or three-dimensional space, or information indicating the distance and direction of each reflection point. The point cloud data may also include brightness information for each reflection point. The LiDAR sensor 140 may be configured to repeatedly output the point cloud data, for example, at a preset period. Thus, the ambient sensor may include one or more LiDAR sensors 140 that output point cloud data as sensor data.

[0138] Sensor data output from the LiDAR sensor 140 is processed by a control device that controls the automatic driving of the work vehicle 100. While the work vehicle 100 is driving, the control device can sequentially generate an obstacle map showing the distribution of objects around the work vehicle 100 based on the sensor data output from the LiDAR sensor 140. The control device can also generate an environmental map by stitching together the obstacle maps during automatic driving, for example, using an algorithm such as SLAM. The control device can also estimate the position and orientation of the work vehicle 100 (i.e., self-localization) by matching the sensor data with the environmental map.

[0139] The multiple obstacle sensors 130 shown in Figure 1 are located at the front and rear of the cabin 105. Obstacle sensors 130 may also be located in other areas. For example, one or more obstacle sensors 130 may be provided at any location on the sides, front, and rear of the vehicle body 101. Obstacle sensors 130 may include, for example, laser scanners or ultrasonic sonar. Obstacle sensors 130 are used to detect surrounding obstacles during autonomous driving and to stop or bypass the work vehicle 100.

[0140] The control device of the work vehicle 100 may use sensing data acquired by a sensing device such as a camera 120 or a LiDAR sensor 140 for positioning, in addition to the positioning results from the positioning device 110. If there are features that function as characteristic points in the environment in which the work vehicle 100 travels, such as farm roads, forest roads, public roads, or orchards, the position and orientation of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the camera 120 or LiDAR sensor 140 and an environmental map stored in a storage device in advance. By correcting or supplementing the position data based on satellite signals using the data acquired by the camera 120 or LiDAR sensor 140, the position of the work vehicle 100 can be determined with even higher accuracy.

[0141] The work vehicle 100 and the work machine 300 can communicate with each other via a communication cable included in the coupling device 108. The work vehicle 100 can also communicate with a terminal device 400 for remote monitoring via the network 80. The terminal device 400 is any computer, such as a personal computer (PC), laptop computer, tablet computer, or smartphone.

[0142] The work machine 300 includes a drive unit 340 (sometimes referred to as the "second drive unit"), a control device 380, and a communication device 390. Figure 20 shows components that are relatively highly relevant to the operation of the work vehicle 100's automatic driving function, and other components are not shown.

[0143] Camera 120 is an imaging device that captures the environment around the work vehicle 100. Camera 120 uses, for example, a CCD (Charge Coupled Device) or CMOS (Complementary Metal). The camera 120 is equipped with an image sensor such as an oxide semiconductor. The camera 120 may also include an optical system including one or more lenses and a signal processing circuit. The camera 120 captures the environment around the work vehicle 100 while the work vehicle 100 is in motion and generates image (e.g., video) data. The camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by the camera 120 can be used, for example, when a remote observer uses a terminal device 400 to check the environment around the work vehicle 100. The images generated by the camera 120 may be used for positioning or obstacle detection. As shown in Figure 1, multiple cameras 120 may be installed at different locations on the work vehicle 100, or a single camera may be installed. A visible light camera that generates visible light images and an infrared camera that generates infrared images may be installed separately. Both the visible light camera and the infrared camera may be installed as cameras that generate surveillance images. The infrared camera may also be used for obstacle detection at night.

[0144] The obstacle sensor 130 detects objects present around the work vehicle 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 outputs a signal indicating the presence of an obstacle when an object is closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be installed at different locations on the work vehicle 100. For example, multiple laser scanners and multiple ultrasonic sonars may be placed at different locations on the work vehicle 100. By providing many such obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0145] The drive system 240 includes various devices necessary for the movement of the work vehicle 100 and the driving of the work equipment 300, such as the prime mover 102, the transmission 103, the steering system 106, and the coupling device 108. The prime mover 102 may be an internal combustion engine, such as a diesel engine. The drive system 240 may also be equipped with an electric motor for traction, either in place of or in conjunction with the internal combustion engine.

[0146] The communication device 190 is a device that includes circuits for communicating with the work machine 300 and the terminal device 400. The communication device 190 includes circuits for transmitting and receiving signals compliant with ISOBUS standards, such as ISOBUS-TIM, to and from the communication device 390 of the work machine 300. This makes it possible to make the work machine 300 perform desired operations or to obtain information from the work machine 300. The communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals via the network 80 to and from the terminal device 400. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G and the internet. The communication device 190 may also have a function to communicate with a mobile terminal used by a supervisor near the work vehicle 100. Communication with such a mobile terminal may be conducted in accordance with any wireless communication standard, such as Wi-Fi®, cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth®.

[0147] The operation terminal 200 is a terminal for the user to perform operations related to the movement of the work vehicle 100 and the operation of the work machine 300, and is also called a virtual terminal (VT). The operation terminal 200 may be equipped with a display device such as a touchscreen and / or one or more buttons. The display device may be a display such as a liquid crystal or organic light-emitting diode (OLED). By operating the operation terminal 200, the user can perform various operations such as switching the automatic driving mode on / off, switching the recording (teaching) mode and playback mode on / off, and switching the work machine 300 on / off. At least some of these operations can also be achieved by operating the operation switch group 210. The operation terminal 200 may be configured to be detachable from the work vehicle 100. A user located away from the work vehicle 100 may control the operation of the work vehicle 100 by operating the detached operation terminal 200. The operation terminal 200 may be equipped with a storage device. The storage device in the operating terminal 200 may store various data necessary for the operation of the work vehicle 100 instead of the storage device 170. The drive unit 340 in the work machine 300 shown in Figure 20 performs the operations necessary for the work machine 300 to perform a predetermined operation. The drive unit 340 includes devices depending on the application of the work machine 300, such as a hydraulic system, an electric motor, or a pump. The control device 380 controls the operation of the drive unit 340. The control device 380 causes the drive unit 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. It can also transmit signals corresponding to the state of the work machine 300 from the communication device 390 to the work vehicle 100. [Industrial applicability]

[0148] The route generation method according to the embodiment of the present invention is widely applicable to various types of work vehicles used in smart agriculture. According to the route generation method and travel control system according to the embodiment of the present invention, work vehicles with attached implements can travel efficiently within the field. [Explanation of Symbols]

[0149] 70...Field, 70A...Work area, 70B...Surrounding area, 100...Work vehicle, 300...Implement, 530...Processing device, 1000...Travel control system, Pr...Temporary stopping position

Claims

1. A method for generating a route for a work vehicle with an attached implement to travel within a field, which is performed by one or more computing devices, The aforementioned route includes a temporary stopping position located within a peripheral area other than the work area within the field, which is provided along at least a portion of the outer perimeter of the field. Based on the size of the work vehicle, the size of the work machine, and the positional relationship between the work vehicle and the work machine, the space defined by the trajectory of the work vehicle and the work machine when the work vehicle performs a predetermined turn is calculated. Based on the aforementioned space, the temporary stopping position is determined. Methods that include...

2. Calculating the aforementioned space is To acquire information on the turning direction and turning angle of the predetermined turn, The trajectory is calculated based on the aforementioned turning direction and turning angle. The method according to claim 1, including the method described in claim 1.

3. Calculating the aforementioned space is To obtain information on the upper limit of the steering angle of the work vehicle that is permitted when the work vehicle performs the predetermined turn, The trajectory is calculated based on the upper limit of the steering angle. The method according to claim 1 or 2, including the method according to claim 1 or 2.

4. Calculating the aforementioned space is During travel between the temporary stopping position and the position where travel resumes in the work area after stopping at the temporary stopping position, information is obtained on one or more permissible actions selected from forward, reverse, right turn, and left turn actions. Calculating the trajectory based on the above one or more actions. The method according to claim 1 or 2, including the method according to claim 1 or 2.

5. The method according to claim 1 or 2, wherein the path includes a turning portion between the temporary stopping position and the position where travel resumes in the work area after stopping at the temporary stopping position.

6. Calculating the aforementioned space is To obtain information on the method of connecting the aforementioned work machine to the aforementioned work vehicle, The trajectory is calculated based on the positional relationship between the work vehicle and the work machine based on the aforementioned coupling method. Includes, The method according to claim 1 or 2, wherein the information of the connection method includes information on whether or not the work machine is connected to the work vehicle in a state in which the orientation of the work machine is fixed with respect to the orientation of the work vehicle.

7. Calculating the aforementioned space is If the orientation of the work implement is not fixed relative to the orientation of the work vehicle, information is obtained on the upper limit of the angle difference between the orientation of the work vehicle and the orientation of the work implement that is permissible when the work vehicle performs the predetermined turn. The trajectory is calculated based on the upper limit of the angle of the difference. The method according to claim 6, including the method described in claim 6.

8. Calculating the aforementioned space is Calculate the first length of the trajectory in a first direction parallel to the orientation of the work vehicle before the predetermined turn, Of the length of the trajectory in the second direction intersecting the first direction, a second length is calculated that increases in the direction opposite to the direction toward the predetermined turn, based on the length of the work vehicle in the second direction before the predetermined turn. The method according to claim 1 or 2, including the method according to claim 1 or 2.

9. Determining the aforementioned temporary stopping position is The method according to claim 8, comprising determining the temporary stopping position such that the rectangle determined by the first length and the second length is included in a predetermined area within the peripheral area.

10. The method according to claim 9, wherein the predetermined area is provided adjacent to the outer perimeter of the field.

11. The outer perimeter of the aforementioned field has a shape that includes multiple sides. Determining the aforementioned temporary stopping position is The method according to claim 1 or 2, comprising determining the temporary stopping position such that the temporary stopping position is located near one of the multiple sides, and the orientation of the work vehicle at the temporary stopping position is parallel to the direction in which the one side extends.

12. Determining the aforementioned temporary stopping position is To obtain information on which of the following should be prioritized: a short distance in the connecting path between the temporary stopping position and the end of travel position in the work area before stopping at the temporary stopping position, or a small curvature in the connecting path; The temporary stopping position is determined by generating the connection route based on the aforementioned priority items. The method according to claim 1 or 2, including the method according to claim 1 or 2.

13. The aforementioned work area includes multiple crop rows, The method according to claim 1 or 2, wherein the path by which the work vehicle travels through the work area includes a path by which the work vehicle travels between the plurality of crop rows.

14. The method according to claim 13, wherein the path by which the work vehicle travels through the work area further includes a path by which the work vehicle turns in the headland before and after traveling between the plurality of crop rows.

15. A control device for driving the work vehicle along a path generated by the method described in claim 1 or 2.

16. A processing apparatus for generating the route by performing the method according to claim 1 or 2, A control device and A driving control system equipped with this system.

17. The driving control system according to claim 16, Running gear including the steering wheels, A drive unit that drives the aforementioned traveling device and A work vehicle equipped with the following features.

18. A processing device that generates a route for a work vehicle to which a work machine is attached to travel within a field, One or more processors, One or more memories for storing computer programs executed by the one or more processors mentioned above, Equipped with, The aforementioned route includes a temporary stopping position located within a peripheral area other than the work area within the field, which is provided along at least a portion of the outer perimeter of the field. The one or more processors execute the computer program, Based on the size of the work vehicle, the size of the work machine, and the positional relationship between the work vehicle and the work machine, the space defined by the trajectory of the work vehicle and the work machine when the work vehicle performs a predetermined turn is calculated. Based on the aforementioned space, the temporary stopping position is determined. A processing unit that executes this process.

19. A computer program executed by a processor in a processing device that generates a route for a work vehicle to which a work machine is attached to travel within a field, The aforementioned route includes a temporary stopping position located within a peripheral area other than the work area within the field, which is provided along at least a portion of the outer perimeter of the field. The aforementioned processor, Based on the size of the work vehicle, the size of the work machine, and the positional relationship between the work vehicle and the work machine, the space defined by the trajectory of the work vehicle and the work machine when the work vehicle performs a predetermined turn is calculated. Based on the aforementioned space, the temporary stopping position is determined. A computer program that executes something.

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