Driving control system, work vehicle, driving control method, and computer program

Abstract

The present invention provides a driving control system, a work vehicle, and a driving control method that enable work vehicles to perform repetitive actions efficiently. [Solution] The driving control system for a work vehicle to which a work machine is attached comprises a positioning device that outputs position data relating to the position of the work vehicle and a control device that controls the operation of the work vehicle. In recording mode, the control device records position data acquired when the work vehicle is in motion and first sensor data relating to the state of the work vehicle in a storage device. In playback mode, it controls the speed and steering of the work vehicle based on the position data recorded in the storage device, thereby driving the work vehicle automatically. In recording mode, it detects whether the state of the work vehicle or the state of the work vehicle's surroundings is a state that should be notified to the user, based on the position data and / or first sensor data. When it detects a state that should be notified to the user, it executes processing relating to the state that should be notified to the user.

Description

Technical Field

[0001] The present invention relates to a travel control system, a work vehicle, a travel control method, 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 promoted. Research and development towards automation and unmanned operation of work vehicles such as tractors used in fields has also been advanced. For example, work vehicles that travel by 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 a plurality of tree rows by using a SLAM (Simultaneous Localization and Mapping) technique 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 a plurality of 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] Work vehicles sometimes repeatedly perform the same tasks while traveling along the same route in the same way within a field (e.g., an orchard). In such cases, if autonomous driving using, for example, SLAM technology is performed each time, the processing load for autonomous driving increases unnecessarily.

[0006] Efficiently performing repetitive actions (including driving) of work vehicles is required not only for agricultural machinery, but also for work vehicles used for non-agricultural purposes, such as construction vehicles or snowplows. Furthermore, even for driving of work vehicles that does not involve work (for example, driving outside the field), efficient execution of repeated driving along the same route is required.

[0007] The present invention aims to provide a driving control system, a work vehicle, and a driving control method that can efficiently perform repetitive actions (including driving and other actions) of a work vehicle. [Means for solving the problem]

[0008] According to embodiments of the present invention, the following solutions are provided.

[0009] [Item 1] A vehicle driving control system for work vehicles, A positioning device that outputs positional data relating to the position of the aforementioned work vehicle, One or more internal sensors that output first sensor data regarding the status of the work vehicle, A control device that controls the operation of the aforementioned work vehicle and Equipped with, The control device is It can operate in both recording and playback modes. In the recording mode, the position data and the first sensor data acquired when the work vehicle is in motion are recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. In the recording mode, based on the position data and / or the first sensor data, it is detected that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user. A driving control system that, when it detects a condition that should be notified to the user, executes processing related to that condition.

[0010] [Item 2] The aforementioned process is, The driving control system according to item 1, including processing performed in the aforementioned recording mode.

[0011] [Item 3] The aforementioned process is, A driving control system according to item 1 or 2, including processing performed in the aforementioned regeneration mode.

[0012] [Item 4] The aforementioned process is, A driving control system according to any one of items 1 to 3, which includes ceasing the recording of the position data and the first sensor data in the recording mode.

[0013] [Item 5] The control device is The driving control system according to item 4, which, when it is determined that there is a high probability that the recording of the position data and the first sensor data will be discontinued in the future in the recording mode, causes the notification device to output a notification that there is a high probability that the recording of the position data and the first sensor data will be discontinued in the future.

[0014] [Item 6] The aforementioned process is, A driving control system according to item 4 or 5, which includes terminating the recording mode.

[0015] [Item 7] The aforementioned process is, The driving control system according to any one of items 4 to 6, including deleting the position data and the first sensor data recorded before the state to be notified to the user is detected from the storage device.

[0016] [Item 8] The process The driving control system according to any one of items 4 to 6, including not deleting the position data and the first sensor data recorded before the state to be notified to the user is detected from the storage device.

[0017] [Item 9] The control device The driving control system according to any one of items 1 to 3, where when the state to be notified to the user is detected, the recording of the position data and the first sensor data in the recording mode is continued.

[0018] [Item 10] The process The driving control system according to item 9, including excluding the position data and the first sensor data related to the state to be notified to the user from the recording target in the recording mode.

[0019] [Item 11] The process The driving control system according to any one of items 1 to 10, including causing the notification device to output a notification for notifying information related to the state to be notified to the user in the playback mode.

[0020] [Item 12] The process The driving control system according to any one of items 1 to 11, including changing the control method of the automatic driving in the playback mode based on the state to be notified to the user.

[0021] [Item 13] The process The driving control system according to item 12, which includes, in the automatic driving of the work vehicle in the playback mode, decelerating the work vehicle and / or temporarily stopping the driving of the work vehicle based on a state to be notified to the user.

[0022] [Item 14] The aforementioned process is, A driving control system according to any one of items 1 to 11, which includes prohibiting the application of the playback mode based on a state to be notified to the user when the operation to initiate the playback mode is performed.

[0023] [Item 15] The aforementioned process is, A driving control system according to any one of items 1 to 14, comprising, in the recording mode, outputting a notification from a notification device that provides information regarding a state to be notified to the user.

[0024] [Item 16] The aforementioned process is, A driving control system according to any one of items 1 to 15, comprising recording information regarding a state to be notified to the user in the recording mode in the storage device.

[0025] [Item 17] The vehicle further comprises one or more external sensors that output second sensor data regarding the conditions around the work vehicle, The control device is In the recording mode described above, acquire the second sensor data, A driving control system according to any one of items 1 to 16, wherein, in the recording mode, it detects, based on the second sensor data, that the state of the work vehicle or the state of the surroundings of the work vehicle is in a state that should be notified to the user.

[0026] [Item 18] The control device is The driving control system according to item 17, which detects whether the state of the work vehicle or the state of the surroundings of the work vehicle is in a state that should be notified to the user, based on information of obstacles obtained based on the second sensor data.

[0027] [Item 19] The control device is A driving control system according to item 17 or 18, which detects whether the state of the work vehicle or the state of the surroundings of the work vehicle is in a state that should be notified to the user, based on information of the road traveled by the work vehicle obtained based on the second sensor data.

[0028] [Item 20] The control device is A driving control system according to any one of items 1 to 19, wherein in the recording mode, if any of a predetermined set of conditions is met, it determines that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user.

[0029] [Item 21] The control device is The driving control system according to item 20, wherein, in the recording mode, when recording of the position data and the first sensor data is stopped, a notification device outputs a notification indicating which of the multiple conditions has been met.

[0030] [Item 22] The control device is The driving control system according to item 20 or 21, which, in the recording mode, when an operation to change the state of the work vehicle is performed by the user, restricts the change based on the operation if the state of the work vehicle, assumed to have been changed based on the operation, satisfies any of the multiple conditions.

[0031] [Item 23] The aforementioned multiple conditions are, The roll angle of the aforementioned work vehicle exceeds a predetermined value. The pitch angle of the aforementioned work vehicle exceeds a predetermined value. The steering angle of the steering wheels of the aforementioned work vehicle exceeds a predetermined value. The positioning device is experiencing interference with receiving satellite signals. The engine of the aforementioned work vehicle is stopped, and The user performed an operation to cancel the aforementioned recording mode. A driving control system described in any one of items 20 to 22, which includes one or more of the following:

[0032] [Item 24] The aforementioned multiple conditions are, The wheels of the aforementioned work vehicle were found to be slipping. In the aforementioned recording mode, the time and / or distance traveled exceeds a predetermined value, and In the aforementioned recording mode, the period during which no user operation is performed after the driving is temporarily stopped exceeds a predetermined time. A driving control system described in any one of items 20 to 23, which includes one or more of the following:

[0033] [Item 25] The aforementioned multiple conditions are, A driving control system according to any one of items 20 to 24, comprising the work vehicle being in a predetermined driving mode.

[0034] [Item 26] The aforementioned work vehicle is connected to a work machine, The aforementioned work vehicle has a coupling device for connecting the aforementioned work machine, The coupling device includes a PTO shaft that supplies power to the work machine, The aforementioned multiple conditions are, A travel control system according to any one of items 20 to 25, including that the rotation of the PTO shaft is turned on.

[0035] [Item 27] A driving control system described in any one of items 1 to 26, Running gear including the steering wheels, A drive unit that drives the aforementioned traveling device and Equipped with, A work vehicle that, in the playback mode, controls the drive unit based on the position data recorded in the recording mode, thereby driving the work vehicle automatically.

[0036] [Item 28] A control device for controlling the operation of a work vehicle, which is executed by a control device capable of operating in recording mode and playback mode, and a method for controlling the movement of a work vehicle, In the recording mode, position data relating to the position of the work vehicle and first sensor data relating to the state of the work vehicle, acquired when the work vehicle is in motion, are recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. In the recording mode, based on the position data and / or the first sensor data, it is detected that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user. When a state that should be notified to the user is detected, the process related to the state that should be notified to the user is executed. A driving control method including the following.

[0037] [Item 29] A computer program executed by a processor in a control device that controls the operation of a work vehicle and is capable of operating in recording mode and playback mode, The aforementioned processor, In the recording mode, position data relating to the position of the work vehicle and first sensor data relating to the state of the work vehicle, acquired when the work vehicle is in motion, are recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. In the recording mode, based on the position data and / or the first sensor data, it is detected that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user. When a state that should be notified to the user is detected, the process related to the state that should be notified to the user is executed. A computer program that executes something.

[0038] [Item 30] A control device that performs the driving control method described in item 28.

[0039] [Item 31] A computer program executed by a computer that controls the operation of a work vehicle, A computer program that causes the computer to execute the steps of the driving control method described in item 28.

[0040] [Item 32] A computer program medium executed by a computer that controls the operation of a work vehicle, A computer program medium that causes the computer to execute the driving control method described in item 28.

[0041] [Item 33] A vehicle driving control system for work vehicles, A positioning device that outputs positional data relating to the position of the aforementioned work vehicle, The control device described in item 30 and A driving control system having the following features.

[0042] [Item 34] A control device for controlling the operation of a work vehicle, which is capable of operating in recording mode and playback mode, In the recording mode, means for recording position data relating to the position of the work vehicle and first sensor data relating to the state of the work vehicle, acquired when the work vehicle is in motion, into a storage device, In the playback mode, means for driving the work vehicle by automatic driving by controlling the speed and steering of the work vehicle based on the position data recorded in the storage device, In the recording mode, means for detecting, based on the position data and / or the first sensor data, that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user, When a state that should be notified to the user is detected, means for executing processing related to the state that should be notified to the user. A control device, including a control device.

[0043] [Item 35] A vehicle driving control system for work vehicles, A positioning device that outputs positional data relating to the position of the aforementioned work vehicle, The control device described in item 34 and A driving control system having the following features.

[0044] [Item 36] One or more processors, The above-mentioned one or more processors have one or more memories that store a computer program that causes the steps of the driving control method described in item 28 to be executed, and A control device having

[0045] [Item 37] The control device described in item 36, A first drive unit that drives the running gear of the aforementioned work vehicle and Equipped with, The control device is a driving control system that, in the playback mode, controls the first drive unit based on the position data recorded in the storage device to drive the work vehicle automatically.

[0046] 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]

[0047] 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]

[0048] [Figure 1] This is a schematic side view showing an example of a work vehicle in an embodiment of the present invention. [Figure 2] 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. [Figure 3A] This block diagram shows a schematic configuration example of a driving control system according to an embodiment of the present invention. [Figure 3B] This is a block diagram showing an example of the configuration of a control device in a driving control system according to an embodiment of the present invention. [Figure 4] 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 5A] This figure schematically shows an example of a route traveled by a work vehicle according to an embodiment of the present invention in recording mode. [Figure 5B] This figure schematically shows an example of a route traveled by a work vehicle according to an embodiment of the present invention in regeneration mode. [Figure 6] This figure shows an example of waypoint data recorded in a storage device. [Figure 7] This flowchart shows an example of processing performed by the control unit in recording mode. [Figure 8A] This is an example of a display screen shown on a user-operated terminal. [Figure 8B] This is an example of a display screen shown on a user-operated terminal. [Figure 8C] This is an example of a display screen shown on a user-operated terminal. [Figure 8D] This is an example of a display screen shown on a user-operated terminal. [Figure 9A] This is an example of a display screen shown on a user-operated terminal. [Figure 9B] This is an example of a display screen shown on a user-operated terminal. [Figure 9C] This is an example of a display screen shown on a user-operated terminal. [Figure 9D] This is an example of a display screen shown on a user-operated terminal. [Figure 10A] This is an example of a display screen shown on a user-operated terminal. [Figure 10B] This is an example of a display screen shown on a user-operated terminal. [Figure 10C] This is an example of a display screen shown on a user-operated terminal. [Figure 11] This flowchart shows an example of processing performed by the control unit in playback mode. [Figure 12] This is a schematic diagram illustrating an example of processing performed by a control device. [Figure 13] This flowchart shows an example of processing performed by the control unit in recording mode. [Figure 14] This is an example of a display screen shown on a user-operated terminal. [Figure 15] This is an example of a display screen shown on a user-operated terminal. [Figure 16] This is an example of a display screen shown on a user-operated terminal. [Figure 17] This diagram schematically shows how the work vehicle 100 moves in recording mode. [Figure 18] This is an example of a display screen shown on a terminal device operated by a user. [Figure 19] This flowchart shows an example of processing performed by the control unit in playback mode. [Figure 20] This flowchart shows an example of processing performed by the control unit in recording mode. [Modes for carrying out the invention]

[0049] (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.

[0050] "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.

[0051] 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 concept of a "crop row" includes a "tree row."

[0052] (Embodiment) Embodiments of the present invention will be described below. However, unnecessarily detailed explanations will be omitted. Yes. For example, detailed explanations of already well-known matters and redundant explanations of substantially identical components may be omitted. This is to avoid the following explanation becoming unnecessarily verbose and to facilitate understanding by those skilled in the art. The inventors provide the accompanying drawings and the following explanation so that those skilled in the art can fully understand the invention, and not to limit the subject matter described in the claims. In the following explanation, components having the same or similar function are denoted by the same reference numerals.

[0053] 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.

[0054] The following describes an embodiment in which the work vehicle is a tractor used for agricultural work in fields such as orchards. The technology of the present invention is not limited to tractors, but can also be applied to other types of agricultural machinery such as rice transplanters, combine harvesters, riding cultivators, and riding lawnmowers. The technology of the present invention can also be applied to work vehicles used for purposes other than agriculture, such as construction vehicles or snowplows. The technology of the present invention can also be applied to the driving of work vehicles outside of work areas, and to the driving of work vehicles without performing work.

[0055] [Outline of the work vehicle configuration] Figure 1 is a schematic side view showing an example of a work vehicle 100 and a work machine 300 connected to the work vehicle 100. Figure 2 is a schematic block diagram showing an example configuration of the work vehicle 100 and the work machine 300.

[0056] As shown in Figures 1 and 2, the work vehicle 100 includes a positioning device 110 (e.g., a GNSS unit) that outputs positional data relating to the position of the work vehicle 100, and a control device 180 that controls the operation of the work vehicle 100.

[0057] The work vehicle 100 may further include an internal sensor group 150 (sometimes referred to as "sensor group 150") that outputs sensor data related to the state of the work vehicle 100. The internal sensor group 150 includes one or more internal sensors. The "internal sensors" include various sensors that detect the state of the work vehicle 100.

[0058] The work vehicle 100 may further be equipped with a plurality of external sensors (a group of external sensors 121) that sense the surroundings of the work vehicle 100. An "external sensor" is a sensor that senses the external conditions of the work vehicle. In the example in Figure 1, the group of external sensors 121 includes a plurality of LiDAR sensors 140, a plurality of cameras 120, and a plurality of obstacle sensors 130.

[0059] In the example shown in Figure 2, the work vehicle 100 includes a positioning device 110, an external sensor group 121 (including a camera 120, an obstacle sensor 130, and a LiDAR sensor 140), an internal 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] The positioning device 110 receives satellite signals (also referred to as GNSS signals) transmitted from multiple GNSS satellites and performs positioning based on these 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.

[0066] As shown in Figure 2, 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.

[0067] 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.

[0068] 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).

[0069] 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.

[0070] 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.

[0071] The internal 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 internal sensor group 150 may include a steering wheel sensor 152, a steering angle sensor 154, and an axle sensor 156.

[0072] 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.

[0073] 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.

[0074] 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, the external sensor group 121 (including the camera 120, obstacle sensor 130, and LiDAR sensor 140), the internal sensor group 150, and the 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] The ECU 184 performs calculations and controls to achieve autonomous driving based on data output from the positioning device 110, the external sensor group 121 (including the camera 120, obstacle sensor 130, and LiDAR sensor 140), and the internal 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, the camera 120, and the 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 the 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 the camera 120. During autonomous driving, 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. ECU 184 sends a command to ECU 181 to change speed and a command to ECU 182 to change steering angle. ECU 181 changes the speed of the work vehicle 100 by controlling the engine 102, transmission 103, or brakes in response to the command to change speed. ECU 182 changes the steering angle by controlling the steering device 106 in response to the command to change steering angle.

[0080] 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.

[0081] 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 2, 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 can be provided depending on their function. Each ECU includes a processing circuit containing one or more processors.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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 60. The terminal device 400 is any computer, such as a personal computer (PC), laptop computer, tablet computer, or smartphone.

[0089] 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 2 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.

[0090] Camera 120 is an imaging device that captures the environment around the work vehicle 100. Camera 120 includes an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Xide Semiconductor). Camera 120 may also include an optical system including one or more lenses and a signal processing circuit. While the work vehicle 100 is in motion, Camera 120 captures the environment around the work vehicle 100 and generates image (e.g., video) data. Camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by 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 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 provided separately. Both the visible light camera and the infrared camera may be provided as cameras that generate surveillance images. The infrared camera can also be used for detecting obstacles at night.

[0091] 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.

[0092] 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.

[0093] The communication device 190 is a device that includes a circuit for communicating with the work machine 300 and the terminal device 400. The communication device 190 includes a circuit for transmitting and receiving signals compliant with the ISOBUS standard, 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 a communication circuit for transmitting and receiving signals via the network 60 to and from the terminal device 400. The network 60 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 for communicating 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®.

[0094] 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 touch screen 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 (described later) 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.

[0095] The drive unit 340 in the work machine 300 shown in Figure 2 performs the operations necessary for the work machine 300 to perform a predetermined operation. The drive unit 340 includes devices such as a hydraulic system, an electric motor, or a pump, depending on the application of the work machine 300. 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 status of the work machine 300 from the communication device 390 to the work vehicle 100.

[0096] [Driving control system] A driving control system according to an embodiment of the present invention will now be described. The driving control system according to an embodiment of the present invention is applied, for example, to the work vehicle 100 described above. In the example shown in Figures 1 and 2, a work machine 300 is connected to the work vehicle 100, but it is not essential that the work machine 300 is connected to the work vehicle 100. That is, the driving control system according to an embodiment of the present invention can also be applied to a work vehicle 100 that is not connected to a work machine 300.

[0097] Figure 3A is a block diagram showing a schematic configuration example of a driving control system 1000 according to an embodiment of the present invention. As shown in Figure 3A, the driving control system 1000 according to this embodiment includes a positioning device 110 that detects the position of a work vehicle 100 and outputs position data, and a control device 180 that controls the operation of the work vehicle 100. In this embodiment, as shown in Figure 2, the positioning device 110 and the control device 180 are installed on the work vehicle 100. The control device 180 works in cooperation with the positioning device 110 to function as the driving control system 1000 of the work vehicle 100. The control device 180 and the positioning device 110 can be connected to communicate with each other via a bus 810.

[0098] Figure 3A shows together an internal sensor group 150 that outputs sensor data (sometimes referred to as "first sensor data") related to the state of the work vehicle 100, and an external sensor group 121 that outputs sensor data (sometimes referred to as "second sensor data") related to the state of the surroundings of the work vehicle 100. Some or all of the internal sensors included in the internal sensor group 150 may be included in the driving control system 1000, or the internal sensor group 150 may be an external element of the driving control system 1000. In this embodiment, the internal sensor group 150 is provided on the work vehicle 100 as shown in Figure 2. The internal sensor group 150 may be connected to the control device 180 and the positioning device 110 so as to be able to communicate with each other via the bus 810. Some or all of the external sensors included in the external sensor group 121 may be included in the driving control system 1000, or the external sensor group 121 may be an external element of the driving control system 1000. The external sensor group 121 may be installed on the work vehicle 100, as shown in Figure 2, or some or all of the external sensors included in the external sensor group 121 may be installed separately from the work vehicle 100. The external sensor group 121 is not limited to the LiDAR sensor 140, camera 120, and obstacle sensor 130 described above, and may include sensors that output sensor data regarding the conditions around the work vehicle 100.

[0099] Figure 3A also shows a storage device 870 in which information acquired by the control device 180 is recorded. The storage device 870 may be included in the travel control system 1000 or may be an external component of the travel control system 1000. The storage device 870 may be mounted on the work vehicle 100 or on the work machine 300. The storage device 870 may be connected to the control device 180 so as to be able to communicate with each other via the bus 810. For example, the storage device 870 may be the storage device 170 shown in Figure 2 or a storage device provided in the operation terminal 200. The operation terminal 200 may be included in the travel control system 1000. The storage device 870 may be located outside the work vehicle 100 and the work machine 300. A storage device 870 located outside the work vehicle 100 and the work machine 300 may be connected to the control device 180 via a communication network. The storage device 870 may be included in a server computer connected to the control device 180 via a communication network.

[0100] In the example shown in Figure 1, the positioning device 110 is mounted on the work vehicle 100, but the positioning device 110 may also be mounted on a work machine 300 connected to the work vehicle 100. In addition to, or instead of, the positioning device mounted on the work vehicle 100, a positioning device (e.g., a GNSS unit) mounted on the work machine 300 may function as the positioning device 110 of the driving control system 1000. The position measured by the positioning device mounted on the work vehicle 100 or the work machine 300 is strictly speaking the position of the point where the positioning device is located, but in this specification, that position is referred to as the "position of the work vehicle".

[0101] The internal sensor group 150 is not limited to the steering wheel sensor 152, steering angle sensor 154, and axle sensor 156 described above, but may include various sensors mounted on the work vehicle 100. For example, the internal sensor group 150 may include one or more sensors selected from a temperature sensor, illuminance sensor, fuel sensor, water temperature sensor, oil level gauge, engine speed sensor, vehicle speed sensor, battery voltage sensor, shuttle sensor, hand accelerator sensor, accelerator pedal sensor, main transmission lever sensor, sub-transmission lever sensor, seat belt sensor, PM sensor, acceleration sensor, angular velocity sensor, IMU (Inertial Measurement Unit), and geomagnetic sensor. The internal sensor group 150 may also include a PTO sensor that detects the on / off state of rotation of the PTO shaft, and / or a 3P position sensor that detects the height position of the 3-point hitch (hereinafter also simply referred to as "height"). Furthermore, in addition to one or more sensors mounted on the work vehicle 100, or in place of one or more sensors mounted on the work machine 300, one or more sensors mounted on the work machine 300 may be included in the internal sensor group 150 of the travel control system 1000.

[0102] In the example shown in Figure 3A, the control unit 180 includes multiple ECUs. These ECUs may include, for example, ECUs 181 to 184 shown in Figure 2. However, the control unit 180 may be a single ECU or other computing device. Figure 3B is a block diagram showing an example configuration of such a control unit 180. In the example in Figure 3B, the control unit 180 comprises a processor 281, a ROM (Read Only Memory) 283, a RAM (Random Access Memory) 285, a communication device 287, and a storage device 289. These components may be interconnected via a bus 290.

[0103] The processor 281 is a semiconductor integrated circuit, also referred to as a central processing unit (CPU) or microprocessor. The processor 281 may include an image processing unit (GPU). The processor 281 sequentially executes a computer program describing a predetermined set of instructions stored in the ROM 283, thereby realizing the processing performed by the driving control system according to an embodiment of the present invention. The control device 180 may comprise a plurality of processors 281. The processing performed by the driving control system according to an embodiment of the present invention may be performed collaboratively by the plurality of processors 281. Part or all of the processor 281 may be an FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), or ASSP (Application Specific Standard Product) equipped with a CPU.

[0104] The communication device 287 is an interface for data communication between the control device 180 and an external computing device. The communication device 287 can perform wired communication such as CAN (Controller Area Network), or wireless communication compliant with the Bluetooth® standard and / or Wi-Fi® standard.

[0105] The storage device 289 can store location data acquired from the positioning device 110, first sensor data acquired from the internal sensor group 150, second sensor data acquired from the external sensor group 121, location data and / or sensor data during processing, first information acquired from location data and second information acquired from sensor data, etc. The storage device 289 includes, for example, a hard disk drive or a non-volatile semiconductor memory. In this example, the storage device 289 may also function as the storage device 870 in the example of Figure 3A.

[0106] The hardware configuration of the control device 180 is not limited to the example above. It is not necessary for part or all of the control device 180 to be mounted on the work vehicle 100. By utilizing the communication device 287, one or more computing devices located outside the work vehicle 100 can function as part or all of the control device 180. For example, one or more server computers and / or computing devices included in a terminal device connected to a network can function as part or all of the control device 180. Alternatively, one or more computing devices mounted on the work vehicle 100 may perform all the functions required of the control device 180.

[0107] Figure 4 is a schematic diagram showing another configuration example of a driving control system according to an embodiment of the present invention. The system shown in Figure 4 includes a work vehicle 100, other work vehicles 700, a server computer 500, and a plurality of terminal devices 400. The terminal devices 400 may be portable or fixed terminal devices. Some or all of the functions of the control device 180 shown in Figure 3B may be implemented by one or more computing devices connected to the communication device 287 of the control device 180 in the work vehicle 100 via a communication network 800. Such computing devices may be the server computer 500 or the terminal devices 400. Other work vehicles (e.g., agricultural machinery) 700 may be connected to such a communication network 800. Communication may take place between the control device 180 in the work vehicle 100 and the other work vehicles 700. Some of the data used for processing by the control device 180 in the work vehicle 100 may be provided to the control device 180 from the other work vehicles 700 via the communication network 800. For example, waypoint data defining a route and a series of operations generated by a control device in another work vehicle 700 may be transmitted from the other work vehicle 700 to the control device 180 of work vehicle 100. Based on this waypoint data, the control device 180 can perform a playback operation in the playback mode described later.

[0108] As shown in Figure 3B, one example of a "control device" in an embodiment of the present invention is a computing device comprising at least one processor and at least one memory that stores a computer program (code) that defines a control process executed by the processor. The "control device" may also be 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.

[0109] 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.

[0110] 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.

[0111] [Recording mode and playback mode] As described below, the travel control system 1000 can control the operation of the work vehicle 100 using the so-called teaching-playback method used in the field of robot control. The control device 180 in the travel control system 1000 can operate in recording mode and playback mode. Recording mode is a mode in which a plurality of positions (hereinafter sometimes referred to as "waypoints") that define the path traveled by the work vehicle 100 are recorded. In recording mode, the operation of the work vehicle 100 at each waypoint may be further recorded. Playback mode is a mode in which the travel path of the work vehicle 100 is reproduced based on the position data of the work vehicle 100 recorded in recording mode. If the operation of the work vehicle 100 at each waypoint is recorded in recording mode, the operation of the work vehicle 100 at each waypoint may also be reproduced in playback mode. The operations in recording mode and playback mode correspond to the teaching operation and playback operation in the teaching-playback method, respectively. The operation of the control device 180 in recording mode and playback mode may be referred to as "teaching" and "playback," respectively. Recording mode may also be referred to as "teaching mode," and playback mode as "playback mode."

[0112] The operation of the control device 180 in the travel control system 1000 in recording mode and playback mode will be explained with reference to Figures 5A and 5B. Figure 5A is a schematic diagram showing an example of a route 31T on which the work vehicle 100 travels in recording mode. Figure 5B is a schematic diagram showing an example of a route 31P on which the work vehicle 100 travels in playback mode. In this example, routes 31T and 31P are routes connecting the first field 70a and the second field 70b.

[0113] (Recording mode) As shown in Figure 5A, in recording mode, the work vehicle 100 travels along route 31T from position R1 in the first field 70a to position R2 in the second field 70b. In recording mode, the control device 180 records the position data output from the positioning device 110, acquired when the work vehicle 100 travels along route 31T, into the storage device 870.

[0114] Figure 5A shows the state in which the work vehicle 100 is located at the starting point (position R1) of the route 31T and the state in which the work vehicle 100 is located at the ending point (position R2). In this example, the route 31T starts from position R1 in the first field 70a, exits the first field 70a through the entrance / exit 73a of the first field 70a, travels outside the field, enters the second field 70b through the entrance / exit 73b of the second field 70b, and ends at position R2 in the second field 70b. Position R1 in the first field 70a is, for example, located within a predetermined area 71a in the first field 70a. Position R2 in the second field 70b is, for example, located within a predetermined area 71b in the second field 70b.

[0115] In recording mode, the control device 180 records multiple waypoint data in the storage device 870 based on position data output from the positioning device 110, for example, while the work vehicle 100 is traveling along route 31T. Each of the multiple waypoint data includes information about the position of the work vehicle 100 (sometimes referred to as "first information"). For example, as shown in Figure 5A, position data indicating each of the multiple positions (waypoints) Pr on the traveled route 31T is recorded in the storage device 870 as waypoint data. The multiple waypoint data can be recorded in the storage device 870 as "route data" indicating route 31T, associated with information about route 31T. Specific examples will be described later with reference to Figure 6.

[0116] In recording mode, the control device 180 may further record sensor data relating to the state of the work vehicle 100, output from the internal sensor group 150, in the storage device 870. In such a case, for example, each of the multiple waypoint data further includes information relating to the state of the work vehicle 100 (sometimes referred to as "second information"). The second information included in each of the multiple waypoint data may be recorded in association with the corresponding first information. By recording the second information in association with the corresponding first information, information on the state of the work vehicle 100 at each position on the path 31T traveled by the work vehicle 100 is recorded.

[0117] Figure 6 is a schematic diagram showing an example of waypoint data recorded in the storage device 870. Each waypoint data 89 shown in Figure 6 includes a waypoint number (No.) 90, first information 91 indicating the position of the work vehicle 100, and second information 92 indicating the status of the work vehicle 100. The first information 91 indicates the position coordinates of the waypoint. The position coordinates may, for example, show latitude and longitude in a geographic coordinate system, or they may show position coordinates in a coordinate system different from the geographic coordinate system. In addition to latitude and longitude, the position coordinates may also include altitude information. In the example in Figure 6, the second information 92 includes information indicating the vehicle speed, heading, steering angle, and attitude of the work vehicle 100. The second information 92 may include only a part of this information. Alternatively, the second information 92 may include other information not shown in Figure 6. As mentioned above, the waypoint data does not have to include the second information 92. Route data 88, which includes a collection of waypoint data 89 (i.e., multiple waypoint data), may be recorded in a storage device 870, associated with an identifier (e.g., route ID) 80 that identifies the route. The route identifier 80 is associated with information 81 about the route. In the illustrated example, the information 81 about the route includes, for example, information about the date and time the route data was created, information about the starting point of the route (e.g., the field before movement), information about the ending point of the route (e.g., the field after movement), information about the latitude and longitude of the reference points of the route (e.g., the start or end point of the route), and information about the size of the implement attached to the work vehicle when the route was traveled. The information 81 about the route may include only some of this information, or it may include other information not shown in Figure 6.

[0118] The second information broadly includes information about the state of the work vehicle 100 other than its position. The second information includes, for example, information about the operation of the work vehicle 100, such as its driving state. The driving state of the work vehicle 100 is determined by the speed of the work vehicle 100, acceleration (i.e., rate of change of speed per unit time), direction of travel (orientation), etc. Information about the driving state of the work vehicle 100 includes, for example, one or more of the following: information about the speed of the work vehicle 100, information about the engine speed of the work vehicle 100, information about the acceleration of the work vehicle 100, information about the orientation of the work vehicle 100, information about the steering angle of the steering wheels of the work vehicle 100, information about the gear ratio of the transmission 103 of the work vehicle 100, etc. The second information may also include information about the attitude of the work vehicle 100. Information about the orientation of the work vehicle 100 may include, for example, information about the angle between the horizontal component of the direction of travel of the work vehicle 100 and the reference direction (e.g., north). The orientation information of the work vehicle 100 may include, for example, information on the roll angle and pitch angle of the work vehicle 100. The orientation information of the work vehicle 100 may also include, for example, information on the orientation of the work vehicle 100. The second information is not limited to information on the operation of the work vehicle 100, but may also include, for example, information on the temperature of the work vehicle 100 (e.g., engine coolant temperature), information on whether or not there is a malfunction in the work vehicle 100 (e.g., diagnostic trouble code: DTC), etc. Specific examples of methods for acquiring the second information will be described later.

[0119] The second information may include information regarding the state of the coupling device 108 for connecting the work implement 300. The coupling device 108 may include, for example, a PTO shaft that supplies power to the work implement 300 and a three-point hitch for adjusting the height of the work implement 300. The information regarding the state of the coupling device 108 may include, for example, one or more of the following: information on whether the rotation of the PTO shaft is on or off, and information on the height of the three-point hitch.

[0120] The second information may include, in addition to information regarding the status of the work vehicle 100, information regarding the status of the work machine 300 if the work machine 300 is connected to the work vehicle 100. For example, if a positioning device is attached to the work machine 300, information regarding the position or orientation (e.g., angle relative to a reference orientation) of the work machine 300 may be included in the second information. Alternatively, if a sensor for detecting the movement of a movable part of the work machine 300 is provided on the work machine 300, information detected by that sensor may be included in the second information.

[0121] In the example shown in Figure 5A, in recording mode, the work vehicle 100 is driven manually by the driver 9 on the work vehicle 100. However, the example is not limited to this, and in recording mode, the work vehicle 100 may also be driven automatically. When the work vehicle 100 is driven automatically in recording mode, it may drive autonomously without the intervention of the driver's manual operation, or it may drive automatically while partially based on the driver's manual operation. For example, automatic steering control may be performed during driving in recording mode, where the driver controls the driving speed of the work vehicle 100 and the steering is controlled automatically. Alternatively, during driving in recording mode, the work vehicle 100 may be driven automatically while the work machine 300 is operated by the driver's manual operation. The driver's manual operation includes not only the driver's manual operation on the work vehicle 100, but also remote operation by an operator outside the work vehicle 100. Such remote operation can be performed using, for example, the terminal device 400 shown in Figure 4, or other remote control devices.

[0122] (Playback mode) In the playback mode shown in Figure 5B, the work vehicle 100 drives automatically. In playback mode, the control device 180 drives the work vehicle 100 automatically by controlling its speed and steering based on the position data recorded in the storage device 870. In playback mode, the control device 180 drives the work vehicle 100 along a target path 31P defined by, for example, first information contained in multiple waypoint data recorded in the storage device 870. For example, the control device 180 controls the steering of the work vehicle 100 to minimize the deviation of the work vehicle 100's position and orientation (azimuth) from the target path 31P. This allows the work vehicle 100 to drive along the target path 31P. In playback mode, the work vehicle 100 can automatically reproduce the path of the work vehicle 100 recorded in recording mode.

[0123] In playback mode, as shown in Figure 5B, the automatic driving of the work vehicle 100 may be controlled by a driver (user) 9 located away from the work vehicle 100 operating a terminal device 400. The driver operating the terminal device or control terminal may be on the work vehicle 100, and this is not limited to the illustrated example. The terminal device 400 operated by the driver 9 may be a portable control terminal or a fixed control terminal. A fixed control terminal may be attached to the work vehicle 100 or located away from the work vehicle 100. The terminal device 400 may be equipped with a display device such as a touchscreen. The display device may be a display such as a liquid crystal or organic light-emitting diode (OLED). The terminal device 400 may further be equipped with one or more buttons. The terminal device 400 may be equipped with a storage device.

[0124] According to the driving control system of this embodiment, in playback mode, the operation (e.g., driving) of the work vehicle 100 can be automatically reproduced based on first information regarding the position of the work vehicle 100 recorded in the storage device 870, so that repetitive operations of the work vehicle 100 can be performed efficiently. Therefore, automation and unmanned operation of the work vehicle 100 are promoted.

[0125] In recording mode, if second information relating to the state of the work vehicle 100 other than its position is further recorded in association with first information relating to the position of the work vehicle 100, the automation and unmanned operation of the work vehicle 100 can be further promoted.

[0126] As shown in the examples in Figures 5A and 5B, when the work machine 300 is connected to the work vehicle 100, the control device 180 can control the operation of the work vehicle 100 and the work machine 300 while the work vehicle 100 is automatically driven, based on the first information (or the first and second information) contained in the multiple waypoint data recorded in recording mode. In other words, in playback mode, the work vehicle 100 can automatically reproduce not only the operation of the work vehicle 100 recorded in recording mode, but also the operation of the work machine 300.

[0127] When a work implement 300 is attached to a work vehicle 100, in playback mode, the operation of the work vehicle 100 with the work implement 300 attached can be reproduced based on the first information recorded in recording mode, thus enabling efficient repetitive operations of the work vehicle 100 with the work implement 300 attached. For example, in recording mode, by recording second information regarding the state of the work implement 300 in association with first information regarding the position of the work vehicle 100, automation and unmanned operation of work by the work implement 300 can be promoted. In other words, the work vehicle 100 can automatically reproduce not only the operation of the work vehicle 100 recorded in recording mode, but also the operation of the work implement 300, thus enabling efficient repetitive operations performed by the work implement 300.

[0128] The control device 180 may, in recording mode and / or playback mode, acquire sensor data (sometimes referred to as "second sensor data") related to the conditions around the work vehicle 100, which is output from the external sensor group 121 while the work vehicle 100 is in motion.

[0129] (Example of processing in recording mode) Figure 7 is a flowchart showing an example of processing performed by the control device 180 in recording mode.

[0130] The timing of the start of the recording mode is specified, for example, by the user. For example, the control device 180 may start the recording mode when a signal containing an instruction to start the recording mode is sent to the control device 180 by the driver's operation. For example, the driver on the work vehicle 100 can send a signal containing an instruction to start the recording mode to the control device 180 by operating an input device such as a predetermined operation switch or operation terminal 200 provided inside the work vehicle 100. The recording mode may be started while the work vehicle 100 is in motion, or it may be started when the work vehicle 100 is stopped.

[0131] When recording mode is started, in step S101, the control device 180 acquires position data output from the positioning device 110. The control device 180 may acquire position data at regular intervals, for example, or each time the work vehicle 100 travels a certain distance. In step S101, in addition to position data, the control device 180 may acquire first sensor data output from the internal sensor group 150 and / or second sensor data output from the external sensor group 121.

[0132] In step S102, the control device 180 determines whether there has been a change of a predetermined value or more in the driving state of the work vehicle 100. The driving state of the work vehicle 100 is defined by the speed, acceleration, direction of travel (orientation), etc., of the work vehicle 100, as described above. For example, if any change in the speed, acceleration, or direction of travel (orientation) of the work vehicle 100 exceeds a predetermined value, it is determined that there has been a change of a predetermined value or more in the driving state of the work vehicle 100 ("Yes" in step S102). For example, if the work vehicle 100 stops from a moving state, or if the work vehicle 100 starts moving from a stopped state, it is determined that there has been a change of a predetermined value or more in the driving state of the work vehicle 100. If "Yes" is answered in step S102, the process proceeds to step S103. If "No" is answered in step S102, the process proceeds to step S104.

[0133] In step S103, the control device 180 records the position data acquired in step S101. Recording the position data in step S103 includes not only recording the position data output from the positioning device 110 in the storage device 870, but also temporarily storing it in a storage device different from the storage device 870. The storage device different from the storage device 870 may be, for example, a memory of the control device 180 such as the RAM 285 shown in Figure 3B, or a storage device included in a server computer connected to the control device 180 via a communication network.

[0134] If first sensor data and / or second sensor data are also acquired in step S101, the control device 180 may also record the acquired first sensor data and / or second sensor data in step S103. Recording of the acquired first sensor data and / or second sensor data includes not only recording it in the storage device 870, but also temporarily storing it in a storage device different from the storage device 870. The first sensor data and / or second sensor data may be recorded in association with position data. The first sensor data may be recorded as second information included in each of the multiple waypoint data. The second sensor data may be recorded, for example, such that each of the multiple waypoint data includes the second sensor data, or the second sensor data may be recorded in a different format from the multiple waypoint data and associated with a route identifier. The second sensor data may include, for example, image data (still images or videos) acquired by the camera 120, point cloud data acquired by the LiDAR sensor 140, etc. The control device 180 may acquire information about the state of the surroundings of the work vehicle 100 based on the second sensor data and record the acquired information. Information regarding the conditions surrounding the work vehicle 100 includes, for example, information about obstacles (including, for example, information about the presence or absence of obstacles, information about the location of detected obstacles, information about the type of detected obstacles, etc.) and information about the road that the work vehicle 100 traveled on (including, for example, information about the surface condition of the road, information about the width of the road, etc.). For example, even if an object is detected around the work vehicle 100, an object that does not pose a problem for the movement of the work vehicle 100 may be recorded as an object that is not an obstacle.

[0135] In step S104, the control device 180 determines whether the distance traveled from the position where the previous position data was recorded exceeds a threshold. The distance traveled threshold can be set to a value of, for example, several tens of centimeters (cm) to several meters (m). Alternatively, in step S104, the control device 180 may determine whether the time elapsed since the previous position data was recorded exceeds a threshold. The time threshold can be set to a value within the range of, for example, 1 second to 10 seconds.

[0136] If the answer in step S104 is "Yes", proceed to step S103. If the answer in step S104 is "No", no location data is recorded, and the process returns to step S101. The control device 180 repeats the processes of steps S101, S102, S103, and S104 until it receives a signal that includes an instruction to terminate the recording of position data (step S105).

[0137] (Example of a display screen related to recording mode) Figures 8A to 8D, 9A to 9D, and 10A to 10C show examples of display screens shown on an operating terminal operated by a user (e.g., the driver of the work vehicle 100). These display screens include a graphical user interface (GUI) for the user to configure settings related to the recording mode. These display screens are shown, for example, on a display device on the operating terminal 200 of the work vehicle 100. Here, we show an example of recording position data when the work vehicle 100 travels along a route connecting fields in recording mode.

[0138] Figures 8A, 8B, 8C, and 8D are examples of display screens for setting the recording mode before the work vehicle 100 starts running in recording mode. Figures 9A, 9B, 9C, 9D, 10A, 10B, and 10C are examples of display screens displayed in recording mode. Figures 10A, 10B, and 10C are examples of display screens displayed after the work vehicle 100 has finished running in recording mode.

[0139] As shown in Figure 8A, a display screen is shown that allows the user to select whether to create or delete route data. On the display screen in Figure 8A, the user can select either the "Create" button 51a or the "Delete" button 51b depending on the operation they are about to perform. To create new route data, select the "Create" button 51a, as shown in the example. If the "Create" button 51a is selected on the display screen in Figure 9A, the user will be redirected to the display screen in Figure 8B or Figure 8C.

[0140] The display screen in Figure 8B includes a GUI that allows the user to set the size of the implement 300. In the illustrated example, the user can enter the width and length of the implement 300 in boxes 66a and 66b, respectively. The GUI may be configured to allow the user to enter other information about the work in addition to the width and length of the implement 300. For example, the GUI may be configured to allow the user to enter at least one of the type of work, the type of implement (e.g., model), or the maximum height of the implement when raised.

[0141] The display screen in Figure 8C includes a GUI that allows the user to set the field before relocation. In the illustrated example, the user selects the field before relocation from the displayed field images 52a, 52b, 52c, and 52d (sometimes referred to simply as "fields 52a-52d"). The display screen also shows an image 53 representing the work vehicle 100. Image 53 representing the work vehicle 100 may be shown at a position that reflects the work vehicle 100's current location. This allows the user to confirm the positional relationship between the work vehicle 100 and the field from the display screen. In the example in Figure 8C, field 52a is selected as the field before relocation. After selecting the field before relocation, the display screen in Figure 8D is accessed.

[0142] The display screen in Figure 8D includes a GUI that allows the user to set the field to be moved. In the illustrated example, the user selects the field to be moved from among fields 52b, 52c, and 52d, which are different from the field 52a before the move. In the illustrated example, it is shown that route data for the route 54 connecting the selected field 52a and field 52d before the move has already been recorded. In the example in Figure 8D, field 52b is selected as the field to be moved.

[0143] The display screen shown in Figure 9A may be displayed until the work vehicle 100 moves to the field 52a before moving. After the work vehicle 100 moves to the field 52a before moving, the display screen shown in Figure 9B will be displayed.

[0144] The display screen in Figure 9B includes a GUI for the user to perform operations to start recording location data. On the display screen in Figure 9B, the user performs the operation to start recording location data by selecting the "Start Recording" button 64a. Once the operation to start recording location data is performed, the display screen in Figure 9C is displayed.

[0145] The display screen in Figure 9C may be displayed while location data is being recorded. The display screen in Figure 9C includes an image 53 of the work vehicle 100 and a trajectory 63 of the work vehicle 100.

[0146] The display screen in Figure 9D may be displayed, for example, after the work vehicle 100 has reached the field after moving. The display screen in Figure 9D includes a GUI for the user to perform an operation to end the recording of location data. On the display screen in Figure 9D, the user performs an operation to end the recording of location data by selecting the "End Recording" button 64b. If the operation to end the recording of location data is performed, the display screens in Figures 10A, 10B, and 10C may be displayed.

[0147] The display screen in Figure 10A includes a GUI for the user to perform operations to set whether or not to record the acquired location data as route data in the storage device 870. The user can set whether or not to record the data as route data in the storage device 870 by selecting the "Yes" button 59a or the "No" button 59b. In this example, while the work vehicle 100 is in motion, the location data acquired from the positioning device 110 is temporarily stored in the storage device 870 or a different storage device (for example, a memory such as the RAM 285 shown in Figure 3B), and when the user selects the "Yes" button 59a on the display screen in Figure 10A, the data is associated with a route identifier and route information and recorded in the storage device 870 as route data.

[0148] As shown in the display screen of Figure 10B, if route data for the path connecting the field 52a before relocation and the field 52b after relocation has already been recorded in the storage device 870, a screen may be displayed to set whether or not to overwrite the route data. The user can set whether or not to overwrite (replace) the route data by selecting the "Yes" button 61a or the "No" button 61b. Multiple route data sets with the same combination of field before relocation and field after relocation may be recorded in the storage device 870. In the display screen of Figure 10B, route 64 and information 62a related to route 64 that have already been recorded in the storage device 870 may also be displayed.

[0149] When route data is recorded in the storage device 870, the display screen shown in Figure 10C may be displayed. The display screen shown in Figure 10C includes a notification 65a that indicates that route data has been recorded in the storage device 870.

[0150] (Example of processing in playback mode) Figure 11 is a flowchart showing an example of processing performed by the control device 180 in playback mode.

[0151] In playback mode, the control device 180 automatically drives the work vehicle 100 based on pre-recorded waypoint data. The control device 180 acquires position data indicating the position of the work vehicle 100 output from the positioning device 110 (step S121). Next, the control device 180 calculates the deviation between the position of the work vehicle 100 and the target path (step S122). The target path is defined by the position information (first information) of multiple waypoints recorded in recording mode. The deviation represents the distance between the position of the work vehicle 100 at that time and the target path. The control device 180 determines whether the calculated position deviation exceeds a preset threshold (step S123). If the deviation exceeds the threshold (if "Yes" is answered in step S123), the control device 180 changes the steering angle by changing the control parameters of the steering device 106 included in the drive device 240 so that the deviation becomes smaller (step S124). If the deviation does not exceed the threshold in step S123 (i.e., "No" in step S123), the process in step S124 is not performed. The control device 180 repeats the operations from steps S121 to S124 until it receives a signal including an instruction to end the playback mode (step S125).

[0152] In playback mode, the control device 180 automatically drives the work vehicle 100 along the target path by executing, for example, the process shown in Figure 11. The control device 180 may further control the operation of the work vehicle 100 based on state information (second information) corresponding to each of the multiple waypoints that define the target path. For example, if the second information includes information on the steering angle of the steering wheels of the work vehicle 100, in addition to the process shown in Figure 11, steering control of the work vehicle 100 based on the steering angle included in the second information may be performed. If the second information includes information on the speed of the work vehicle 100, the speed of the work vehicle 100 is controlled based on the speed information included in the second information.

[0153] Control technologies such as PID control or MPC control (model predictive control) can be applied to the steering and speed control of the work vehicle 100. By applying these control technologies, the control of the work vehicle 100 to approach the target path and target speed can be made smoother.

[0154] (If the second piece of information includes information about the driving status of the work vehicle) Referring to Figure 12, an example of processing performed by the control device 180 when the second information includes information regarding the driving state of the work vehicle 100 will be explained. Figure 12 is a schematic diagram illustrating an example of processing performed by the control device 180 in the driving control system 1000. In addition to the driving control system 1000, Figure 12 also shows the drive unit 240 and the operation switch group 210. For simplicity, some components are omitted from the illustration in Figure 12.

[0155] (Control of the speed of work vehicles) The control device 180 controls the speed of the work vehicle 100 by controlling the prime mover 102, the braking device (brake) 293, and the transmission 103, which are included in the drive unit 240. The braking device 293 brakes the axle that rotates the wheels 104 of the work vehicle 100. Specifically, the speed of the work vehicle 100 can be controlled by controlling the engine speed of the prime mover (engine) 102 and / or the gear ratio of the transmission 103. For example, the transmission 103 has multiple gears, and the control device 180 controls the gear ratio of the transmission 103 by switching the gears of the transmission 103. The multiple gears of the transmission 103 may be composed of a combination of multiple main gears and multiple sub-gears. When the work vehicle 100 is being driven manually, the control device 180 controls the speed of the work vehicle 100 by controlling the engine 102, the braking system (brakes) 293, and the transmission 103 in response to the driver's operation of the accelerator control device 215 (e.g., accelerator lever or accelerator pedal), the braking control device 216 (e.g., brake pedal), and / or the gear shift control switch 218 (e.g., shift lever). The gear shift control switch 218 is a switch for selecting the gear of the transmission 103. The control device 180 may further switch between two-wheel drive mode and four-wheel drive mode in response to the driver's operation.

[0156] In recording mode, the control device 180 sequentially acquires sensor data output from vehicle speed sensors such as the axle sensor 156, the engine speed sensor 158, and the gear ratio sensor 159, which detects the gear ratio information of the transmission 103. Based on this sensor data, the control device 180 generates and records information on the speed of the work vehicle 100, the engine speed of the work vehicle 100, and the gear ratio information of the transmission 103 as second information, associated with the position information (first information) of each waypoint. In this case, in playback mode, the control device 180 controls the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, and the braking system 293 included in the drive unit 240, based on the second information recorded in recording mode. The gear ratio sensor 159 is mounted on the rotating shaft within the transmission 103 and may be a sensor that detects the gear ratio, or it may be a shift position sensor that identifies the selected gear by detecting the position of the shift lever (gear position operation switch 218) for selecting a gear. The gear ratio information of the transmission 103 is not limited to information indicating the gear ratio itself, but may also be information that identifies the selected gear among the multiple gears of the transmission 103. Since one gear corresponds to one gear ratio, if the gear is identified, the gear ratio can be identified.

[0157] The work vehicle 100 may be equipped with a double-speed turn mode (front wheel speed increase function). Double-speed turn is an operation that increases the speed of the front wheels when the steering angle of the front wheels exceeds a threshold due to the driver turning the steering wheel a large amount. Performing a double-speed turn reduces the turning radius and enables smoother turning. The work vehicle 100 may be equipped with a solenoid (referred to as the "double-speed solenoid") for driving a clutch to switch the double-speed turn mode on and off. The control device 180 can switch the double-speed solenoid on and off via a hydraulic circuit. When the double-speed solenoid is on, the rotational speed of the front wheels is approximately twice as fast as when the double-speed solenoid is off.

[0158] The second information may further include information regarding the driving mode of the work vehicle 100. For example, the information regarding the driving mode of the work vehicle 100 may include information on whether it is moving forward or backward. The information regarding the driving mode may also include information on whether the driving mode of the work vehicle 100 is in four-wheel drive mode or two-wheel drive mode. The information regarding the driving mode may also include information on whether the double-speed turn mode is on or off. The information regarding the driving mode may further include information on whether the automatic single-sided brake mode is on or off. When the automatic single-sided brake mode is on, it is a mode in which the inner rear wheel is lightly braked if the steering angle of the front wheel 104F, which is the steering wheel, exceeds a predetermined value while driving. In playback mode, the control device 180 controls the driving mode of the work vehicle 100 by controlling the prime mover 102, the transmission 103, and the braking device 293 included in the drive unit 240 based on the second information recorded in recording mode.

[0159] (Steering control of work vehicles) The control device 180 changes the steering angle of the front wheels 104F, which are the steering wheels of the work vehicle 100, by controlling the steering device 106, and changes the direction of the work vehicle 100 by changing the steering angle of the steering wheels. When the work vehicle 100 is being driven manually, the control device 180 changes the steering angle of the steering wheels and the direction of the work vehicle 100 by controlling the steering device 106 in response to the driver's operation of the steering wheel 217.

[0160] In recording mode, the control device 180 acquires information on the steering angle of the steering wheels of the work vehicle 100 as second information, based on sensor data (measured values) output from the steering wheel sensor 152 and / or steering angle sensor 154. In this case, in playback mode, the control device 180 controls the steering of the work vehicle 100 by controlling the hydraulic system or electric motor included in the steering system 106, based on the second information recorded in recording mode.

[0161] The second piece of information may further include information regarding the posture of the work vehicle 100. The posture of the work vehicle 100 may include, for example, the roll angle θ. R , pitch angle θ P , and yaw angle θ Y It is represented by the roll angle θ. R This represents the amount of rotation of the work vehicle 100 around its longitudinal axis. Pitch angle θ P This represents the amount of rotation of the work vehicle 100 around its left-right axis. Yaw angle θ Y This represents the amount of rotation of the work vehicle 100 around its vertical axis. The attitude can also be defined by other angles, such as Euler angles, or by quaternions. The control device 180 obtains information about the attitude of the work vehicle 100 based, for example, on data output from the IMU 115.

[0162] [Detection of conditions that should be notified to the user in recording mode] Figure 13 is a flowchart showing an example of processing performed by the control device 180 in recording mode. In this example, the control device 180 detects a state that should be notified to the user based on the position data and / or first sensor data acquired in recording mode, and when it detects a state that should be notified to the user, it performs processing related to the state that should be notified to the user in recording mode and / or playback mode. The state that should be notified to the user and the processing related to the state that should be notified to the user will be described later.

[0163] When recording mode is started, as shown in Figure 13, in step S141, the control device 180 acquires the position data output from the positioning device 110 and the first sensor data output from the internal sensor group 150. The processing in step S141 can be carried out in the same way as the processing in step S101 in the example in Figure 7.

[0164] In step S142, the control device 180 detects, based on the position data and / or first sensor data acquired in step S141, that the state of the work vehicle 100 or the state of the work vehicle's surroundings is in a state that should be notified to the user. The state of the work vehicle 100 or the state of the work vehicle 100's surroundings being in a "state that should be notified to the user" means that if automatic driving based on the position data recorded in such a state is performed in playback mode, the state of the work vehicle 100 or the state of the work vehicle 100's surroundings will be in a state that should be notified to the user (e.g., a warning). The "state that should be notified to the user" is not limited to states in which a problem occurs in the automatic driving of the work vehicle 100, but also includes states in which a problem may occur if the work vehicle 100 continues to drive automatically.

[0165] For example, the control device 180 may acquire data on the tilt angle (roll angle and / or pitch angle) of the work vehicle 100 as first sensor data, and detect a state that should notify the user based on the tilt angle data of the work vehicle 100. For example, the control device 180 determines that a state should notify the user if the tilt angle (roll angle and / or pitch angle) of the work vehicle 100 exceeds a predetermined value. Alternatively, or in addition to this, the control device 180 may determine that a state should notify the user if the rate of change of the tilt angle of the work vehicle 100 per unit time exceeds a predetermined value. A state in which the tilt angle (roll angle and / or pitch angle) of the work vehicle 100 or its rate of change is too large may be undesirable for the work vehicle 100 to operate automatically, so it is determined that a state should notify the user. The predetermined value (i.e., the threshold for determination) can be set in advance by the user, for example.

[0166] For example, the control device 180 may detect a state that should notify the user based on the altitude data of the work vehicle 100 included in the position data. For example, the control device 180 may determine that a state should notify the user if the rate of change of the altitude of the work vehicle 100 per unit time exceeds a predetermined value. A state in which the rate of change of the altitude of the work vehicle 100 is too large may be undesirable for the work vehicle 100 to operate automatically, so it is determined that a state should notify the user. The predetermined value (i.e., the threshold for determination) can be set in advance by the user, for example.

[0167] Examples of methods for determining whether or not a user should be notified are not limited to the examples mentioned above, as will be discussed later.

[0168] If a condition that should be notified to the user is detected (if the answer is "Yes" in step S142), in step S143, the control device 180 executes processing related to the condition that should be notified to the user. "Processing related to the condition that should be notified to the user" is one or more processes performed in response to the detection of a condition that should be notified to the user, and is performed to prevent problems from occurring in the automatic driving of the work vehicle 100 in regeneration mode. When the control device 180 detects a condition that should be notified to the user, it can prevent problems in the automatic driving of the regeneration mode by executing processing related to the condition that should be notified to the user. Therefore, the user can ensure that the automatic driving of the work vehicle 100 in regeneration mode is performed smoothly.

[0169] Processing related to the status that should be notified to the user may be performed only in recording mode, only in playback mode, or in both recording and playback modes, as will be shown in specific examples later. In the example in Figure 13, processing related to the status that should be notified to the user is performed at least in recording mode, but processing related to the status that should be notified to the user may also be performed in playback mode.

[0170] The following are examples of processes that may be performed in recording mode regarding a state that should be notified to the user. Two or more of the following processes may be performed. Each of the processes regarding a state that should be notified to the user may be performed immediately in response to the detection of a state that should be notified to the user, or it may be performed when recording mode is terminated.

[0171] (Examples of processes that may occur in recording mode to notify the user about the status) (a) Output a notification from the notification device that provides information about the status that should be notified to the user. For example, when the control device 180 detects a condition that should be notified to the user, in recording mode, it causes the notification device to output a notification containing information about the condition that should be notified to the user. In this case, recording of position data and first sensor data may be stopped or not stopped (i.e., continued). The notification device may include, for example, a display device and / or an audio output device such as a buzzer or speaker. The notification device is provided, for example, on an operating terminal operated by the user (for example, an operating terminal 200 on the work vehicle 100). The notification device may be mounted on the work vehicle 100, or is not limited to this example as long as it is in a form that can output a notification to the user. The notification may be issued in a way that stimulates the user's five senses, such as an image, light, sound, or vibration. A combination of one or more of the images, light, sound, or vibration may be used as the notification. Examples of notification devices and notifications also apply in the cases described later.

[0172] Figure 14 shows an example of a display screen shown on an operating terminal operated by a user (for example, the driver of the work vehicle 100). The display screen in Figure 14 includes a notification 67a that notifies the user of information about a condition that should be notified. In this example, it is assumed that the tilt angle of the work vehicle 100 has exceeded a predetermined value (threshold), and this has been detected as a condition that should be notified to the user.

[0173] (b) Record information about the status that should be notified to the user in a storage device. For example, when the control device 180 detects a condition that should be notified to the user, it records information about the condition in the storage device 870 in recording mode. In this case, the recording of position data and first sensor data may be stopped or not stopped (i.e., continued). The control device 180 records information about the condition that should be notified to the user (including information about the condition that should be notified to the user and the reason for its detection) in the storage device 870, for example, in association with the position data of the location where the condition that should be notified to the user was detected. As will be described later, if it is determined that a condition should be notified to the user when any of a predetermined set of conditions is met, the information of the condition that was met among the set of conditions is recorded in the storage device 870.

[0174] (c) Stop recording location data and first sensor data. For example, when the control device 180 detects a condition that should notify the user, it stops recording location data and first sensor data in recording mode. By stopping the recording of location data and first sensor data when a condition that should notify the user is detected, it is possible to prevent automatic driving based on data recorded in a condition that should notify the user from being performed in playback mode.

[0175] When the control device 180 stops recording position data and first sensor data, it may have the notification device output a notification indicating that the recording of position data and first sensor data has been stopped. In addition to the notification indicating that the recording of position data and first sensor data has been stopped, the control device 180 may have the notification device output a notification indicating information about a state that should be notified to the user. For example, if it is determined that a state should be notified to the user when any of a predetermined set of conditions is met, the control device 180 may output a notification indicating the condition that was met among the set of conditions.

[0176] Figure 15 shows an example of a display screen shown on an operating terminal operated by a user (for example, the driver of the work vehicle 100). The display screen in Figure 15 includes a notification 67b that notifies the user that the recording of position data and first sensor data has been stopped, and a notification 67a that notifies the user of information about a condition that should be notified. In this example, as in the example in Figure 14, it is assumed that the tilt angle of the work vehicle 100 has exceeded a predetermined value (threshold), and this has been detected as a condition that should be notified to the user.

[0177] When the control device 180 determines that there is a high probability that the recording of future position data and first sensor data will be discontinued, it may have the notification device output a notification indicating that there is a high probability that the recording of future position data and first sensor data will be discontinued. In addition to the above notification, the control device 180 may also have the notification device output a notification indicating the reason why it was determined that there is a high probability that the recording of future position data and first sensor data will be discontinued.

[0178] Figure 16 shows an example of a display screen shown on an operating terminal operated by a user (for example, the driver of the work vehicle 100). The display screen in Figure 16 includes a notification 68a that notifies the user that there is a high probability that the recording of future position data and first sensor data will be stopped, and a notification 68b that notifies the user of the reason why it was determined that there is a high probability that the recording of future position data and first sensor data will be stopped. In this example, it is determined that there is a high probability that the recording of future position data and first sensor data will be stopped because the tilt angle of the work vehicle 100 is approaching a predetermined value (threshold).

[0179] The control device 180 may terminate the recording mode itself if it stops recording position data and first sensor data. Alternatively, the control device 180 may resume recording position data and first sensor data under certain conditions after stopping the recording of position data and first sensor data.

[0180] If the control device 180 stops recording position data and first sensor data, it may or may not delete the position data and first sensor data recorded before a condition requiring notification to the user was detected from the recording storage device (storage device 870 or a storage device other than storage device 870).

[0181] (d) Exclude location data and first sensor data related to the status that should be notified to the user from the recording. For example, when the control device 180 detects a state that should be notified to the user, in recording mode, it excludes the location data and first sensor data related to the state that should be notified to the user from the recording target. In this case, the recording of the location data and first sensor data is not stopped (i.e., continues). By excluding the state that should be notified to the user from the recording target when such a state is detected, it is possible to prevent automatic driving based on data recorded in the state that should be notified to the user from being performed in playback mode.

[0182] Refer to Figure 13 again. If the processing related to the status to be notified to the user includes stopping the recording of position data and first sensor data (if the answer is "Yes" in step S144), then in step S145, the control device 180 stops recording the position data and first sensor data. The processing in step S145 is carried out as in the example described above.

[0183] If no condition requiring notification to the user is detected (i.e., "No" in step S142), in step S146, the control device 180 records the position data and the first sensor data. The processing in step S146 may be performed in the same manner as, for example, the processing in steps S102, S103, and S104 in the example in Figure 7. The control device 180 repeats the processing of the above steps until it receives a signal that includes an instruction to terminate the recording of the position data and the first sensor data (step S147).

[0184] In recording mode, the processing performed by the control device 180 is not limited to the examples described above. For example, in step S141 of Figure 13, the control device 180 may further acquire second sensor data output from the external sensor group 121. In such a case, in step S142, the control device 180 can detect, based on the second sensor data acquired in step S141, that the state of the work vehicle 100 or the state of the surroundings of the work vehicle 100 is in a state that should be notified to the user. In step S142, the control device 180 can detect, based on information about the state of the surroundings of the work vehicle 100 acquired based on the second sensor data, that the state of the work vehicle 100 or the state of the surroundings of the work vehicle 100 is in a state that should be notified to the user. Information about the state of the surroundings of the work vehicle 100 includes, for example, information about obstacles (e.g., information about the presence or absence of obstacles, information about the location of detected obstacles, information about the type of detected obstacles, etc.), information about the road that the work vehicle 100 traveled on (e.g., information about the width of the road, information about the condition of the road surface, etc.), etc.

[0185] The control device 180 may, for example, detect a condition that should be notified to the user when the work vehicle 100 is traveling near an object that could be an obstacle or the ground in a specific condition. The control device 180 may also determine that a condition that should be notified to the user is when the work vehicle 100 is traveling at a position close to the edge of the road it is traveling on. Objects that could be obstacles are not limited to physical objects (including ground objects, people, animals, etc.), but may also include specific conditions of the ground (e.g., muddy conditions, conditions where depressions or protrusions are formed in the ground, etc.). Furthermore, obstacles include both static and dynamic obstacles.

[0186] Figure 17 schematically shows how the work vehicle 100 travels in recording mode. In the example in Figure 17, when the work vehicle 100 is traveling in recording mode, the control device 180 acquires second sensor data output from the external sensor group 121. The figure also schematically shows an example of the range Rsa sensed by the external sensor group 121 (e.g., LiDAR sensor 140) of the work vehicle 100. The work vehicle 100 is traveling along a path 32T on a road (e.g., a farm road) 75. In the figure, the area that is the road 75 is hatched. Based on the second sensor data, the control device 180 can acquire information about an object 77 located on the road 75, such as information about the position of the object 77, information about the type of object 77, and information about whether or not the object 77 is an obstacle (i.e., an object that hinders movement) for the work vehicle 100 to travel. Furthermore, the control device 180 can acquire information about the road 75 on which the work vehicle 100 traveled, such as information about the width of the road 75 and information about the surface condition of the road 75, based on the second sensor data.

[0187] (Examples of processes that may occur in playback mode to notify the user about a given state) The following are examples of processes that may be performed in playback mode to notify the user of a state. Two or more of the following processes may be performed. The following processes may be performed if information regarding a state to be notified to the user is recorded in the storage device 870.

[0188] (e) Output a notification from the notification device that provides information about the status that should be notified to the user. For example, when the control device 180 detects a condition that should be notified to the user in recording mode, it causes the notification device to output a notification in playback mode that provides information about the condition that should be notified to the user. This process can be performed when the position data and first sensor data at the time the condition that should be notified to the user is detected are recorded in the storage device 870. In playback mode, by causing the work vehicle 100 to automatically drive while the notification device outputs a notification providing information about the condition that should be notified to the user, the recorded data can be effectively utilized when a condition that should be notified to the user is detected.

[0189] Figure 18 shows an example of a display screen shown on a terminal device operated by a user performing playback mode operations (for example, terminal device 400 in the example of Figure 5B). The display screen in Figure 18 is shown, for example, when the work vehicle 100 is being driven automatically in playback mode. The display screen in Figure 18 includes a notification 69a that notifies the user of a condition detected in recording mode that should be notified. In this example, it is assumed that in recording mode, the tilt angle of the work vehicle 100 has exceeded a predetermined value (threshold), and this has been detected as a condition that should be notified to the user. In the display screen of Figure 18, the notification 69a may be displayed only while the work vehicle 100 is driving automatically in the vicinity of the location where the condition that should be notified to the user was detected.

[0190] (f) Changing the control method of automatic driving in playback mode based on the status that should be notified to the user. For example, the control device 180 changes the control method for automatic driving in playback mode based on a state to be notified to the user detected in recording mode. For example, the control device 180 may decelerate and / or temporarily stop the work vehicle 100 during automatic driving in playback mode based on a state to be notified to the user detected in recording mode. For example, the control device 180 may decelerate and / or temporarily stop the work vehicle 100 when it is traveling near a location where a state to be notified to the user has been detected. The control device 180 may change the control method for speed and / or steering during automatic driving in playback mode based on a state to be notified to the user detected in recording mode.

[0191] (g) When an operation to start playback mode is performed, the application of playback mode shall be prohibited based on the status that should be notified to the user. For example, when an operation to start playback mode is performed, for example by a user, the control device 180 prohibits the application of playback mode based on a state that should be notified to the user detected in recording mode. For example, if the route data identified in the operation to start playback mode is associated with information about a state that should be notified to the user detected in recording mode, the control device 180 prohibits the start of automatic operation of the work vehicle 100 using said route data.

[0192] Figure 19 is a flowchart showing an example of processing performed by the control device 180 in playback mode.

[0193] In step S151, the control device 180 receives a signal including an instruction to start automatic operation in playback mode. For example, when an operation to start automatic operation in playback mode is performed, for example, by a user, the control device 180 receives a signal including an instruction to start automatic operation in playback mode. For example, a user performs an operation to start automatic operation in playback mode by operating an input device such as an operation terminal 200. The operation to start automatic operation in playback mode includes an operation to identify the route data to be used in playback mode. In step S151, the control device 180 may also receive a signal to identify the route data to be used in playback mode.

[0194] In step S152, the control device 180 determines whether a state that should be notified to the user in recording mode has been detected in the route data to be used in playback mode. For example, the control device 180 determines whether information about a state that should be notified to the user detected in recording mode has been associated with the route data identified by the signal received in step S151 and recorded in the storage device 870. If the answer in step S152 is "Yes", the device proceeds to step S153.

[0195] In step S153, the control device 180 determines whether or not to apply the playback mode. For example, as described above as an example of processing regarding a state that should be notified to the user, if the route data identified by the signal received in step S151 is associated with and recorded information about a state that should be notified to the user, which was detected in the recording mode, the control device 180 may prohibit the start of automatic operation of the work vehicle 100 using the route data. The control device 180 may also determine whether or not to apply the playback mode depending on the content of the information about the state that should be notified to the user associated with the route data (for example, the state that should be notified to the user and the reason for its detection).

[0196] If it is determined in step S153 that playback mode should not be applied (if the answer is "No" in step S153), the system terminates without performing automatic operation in playback mode. If it is determined in step S153 that playback mode should be applied (if the answer is "Yes" in step S153), the system proceeds to step S154.

[0197] In step S154, the control device 180 determines whether or not to change the control method for automatic driving in playback mode. For example, as described above as an example of processing related to a state that should be notified to the user, the control device 180 may change the control method for automatic driving in playback mode based on a state that should be notified to the user detected in recording mode. If the answer in step S154 is "Yes", the process proceeds to step S155.

[0198] In step S155, the control device 180 causes the work vehicle 100 to perform automatic operation according to the control method determined in step S154.

[0199] If the answer in step S152 is "No", and if the answer in step S154 is "No", proceed to step S156. In step S156, the control device 180 causes the work vehicle 100 to operate automatically based on the recorded position data. The process in step S156 can be carried out, for example, in the same manner as the flowchart in Figure 11.

[0200] (Examples of conditions that determine a state that should be notified to the user) In recording mode, the control device 180 may determine that the state of the work vehicle 100 or the state of the surroundings of the work vehicle 100 is a state that should be notified to the user if any of a predetermined set of conditions is met. Specific examples of these conditions are described below.

[0201] (1) The roll angle of the work vehicle 100 exceeds a predetermined value, and the pitch angle of the work vehicle 100 exceeds a predetermined value. If the conditions "the roll angle of the work vehicle 100 exceeds a predetermined value" and / or "the pitch angle of the work vehicle 100 exceeds a predetermined value" are met, it may be determined that the user should be notified. It is undesirable for the tilt angle (roll angle and / or pitch angle) of the work vehicle 100 to be too large to be reproduced in playback mode. By determining that the user should be notified when the above conditions are met, the reproducibility of the operation of the work vehicle 100 in playback mode can be improved. The control device 180 acquires information on the posture of the work vehicle 100 based on the sensor data output from the IMU 115, and determines whether the tilt angle of the work vehicle 100 exceeds a predetermined value based on the acquired information.

[0202] (2) The steering angle of the steering wheels of the work vehicle 100 exceeds a predetermined value. When the condition "the steering angle of the steering wheels of the work vehicle 100 exceeds a predetermined value" is met, it can be determined that this is a state that should be notified to the user. A state where the steering angle is too large corresponds to a state where the steering wheel is turned sharply. Since it is undesirable for such a state to be reproduced in playback mode, determining that this is a state that should be notified to the user can improve the reproducibility of the operation of the work vehicle 100 in playback mode. As explained with reference to Figure 12, in recording mode, the control device 180 acquires information on the steering angle of the steering wheels of the work vehicle 100 based on sensor data (measured values) output from the steering wheel sensor 152 and / or steering angle sensor 154, and determines whether the steering angle of the steering wheels of the work vehicle 100 is greater than a predetermined value based on the acquired information.

[0203] (3) An interference occurs in receiving satellite signals by the positioning device 110. If the condition "the positioning device 110 is experiencing a reception failure of satellite signals" is met, it may be determined that the user should be notified. "Satellite signal reception failure" means a state in which the reliability of positioning is reduced compared to normal due to a deterioration in the reception of satellite signals. In such a state, the reliability of the position data output from the positioning device 110 may decrease, making it unsuitable for recording position data. Reception failures can occur, for example, when the number of detected satellites is small (e.g., 3 or less), when the reception strength of each satellite signal is low, or when multipath occurs. The control device 180 can determine whether or not a reception failure is occurring based, for example, on information about satellites included in the GNSS data. For example, it can determine the presence or absence of a reception failure based on the reception strength value for each satellite included in the GNSS data, or the DOP (Dilution of Precision) value indicating the satellite arrangement.

[0204] (4) The engine 102 of the work vehicle 100 is stopped. If the condition "the prime mover 102 of the work vehicle 100 is stopped" is met, it can be determined that this is a state that should be notified to the user. By determining that this is a state that should be notified to the user when the above condition is met, it is possible to smoothly record position data in recording mode and to improve the reproducibility of the operation of the work vehicle 100 in playback mode. The control device 180 determines whether or not the prime mover 102 is running based on sensor data output from, for example, the engine speed sensor 158.

[0205] (5) The user performed an operation to cancel the recording mode. If the condition "the user has performed an operation to cancel the recording mode" is met, it may be determined that the user should be notified. For example, a user (e.g., the driver of the work vehicle 100) can transmit a signal to the control device 180, including an instruction to cancel the recording mode, by operating a predetermined operation switch or an input device such as an operation terminal 200 located inside the work vehicle 100.

[0206] (6) Slippage was detected in the wheels of work vehicle 100. If the condition "slip of the work vehicle 100's wheels has been detected" is met, it may be determined that the user should be notified. It is undesirable for the slip to be reproduced in replay mode. The control device 180 acquires information on the speed of the work vehicle 100 and information on the acceleration of the work vehicle 100 based on vehicle speed sensors such as the axle sensor 156 and sensor data output from the IMU 115, and can detect slip of the work vehicle 100 based on the acquired information.

[0207] (7) The time and / or distance traveled in recording mode exceeds a predetermined value. If the condition "the time and / or distance traveled in recording mode exceeds a predetermined value" is met, it may be determined that the user should be notified. The control device 180 determines whether the above condition is met based on information obtained from the storage device 870 regarding the data capacity of the location data stored in the storage device 870.

[0208] (8) In recording mode, the period during which no user operation is performed after the driving is temporarily stopped exceeds a predetermined time. If the condition "In recording mode, after the vehicle has been temporarily stopped, the period during which no user operation is performed exceeds a predetermined time" is met, it may be determined that the user should be notified. In recording mode, if the control device 180 does not receive a signal based on user operation (for example, a signal to restart the vehicle) for a predetermined time or longer after the vehicle has been temporarily stopped, it determines that the above condition is met.

[0209] (9) The driving mode of the work vehicle 100 is set to a predetermined driving mode. If the condition "the driving mode of the work vehicle 100 is a predetermined driving mode" is met, it may be determined that the user should be notified. For example, if the driving mode is not suitable for automatic driving in regeneration mode, determining that the user should be notified can improve the reproducibility of the operation of the work vehicle 100 in regeneration mode. The "predetermined driving mode" may differ depending on the route for which route data is created (for example, whether it is an off-field route or an in-field route).

[0210] For example, if the driving mode of the work vehicle 100 allows switching the above-mentioned double-speed turn mode on or off, then "being in a predetermined driving mode" includes, for example, the double-speed turn mode being on. This is because, when creating route data for routes outside the field, it is preferable in the playback mode for the double-speed turn mode to be off, from the viewpoint of ensuring smooth automatic driving of the work vehicle 100 outside the field.

[0211] For example, if the driving mode of the work vehicle 100 allows switching the above-described automatic single-sided braking mode on or off, then "being in a predetermined driving mode" includes, for example, the automatic single-sided braking mode being on. This is because, when creating route data for routes outside the field, it is preferable in the regeneration mode for the automatic single-sided braking mode to be off, from the viewpoint of ensuring smooth automatic driving of the work vehicle 100 outside the field.

[0212] (10) The rotation of the PTO shaft of the coupling device 108 of the work vehicle 100 is turned ON. When a work implement 300 is connected to a work vehicle 100, if the condition "the PTO shaft is turned on" is met, it may be determined that this is a state that should be notified to the user. For example, in recording mode, when creating route data for a route connecting fields, determining the above case as a state that should be notified to the user allows for smooth automatic driving outside the field in playback mode.

[0213] The coupling device 108 that connects the work implement 300 includes a PTO shaft that supplies rotational power to the work implement 300. The sensor group 150 includes a PTO sensor that detects whether the rotation of the PTO shaft is on or off. The control device 180 acquires information on whether the rotation of the PTO shaft is on or off based on the sensor data output from the PTO sensor and determines whether the rotation of the PTO shaft is off or not.

[0214] (Restrictions on changing the status of the work vehicle in recording mode) As mentioned above, the processing performed when a condition requiring notification to the user is detected includes, for example, stopping the recording of location data and first sensor data. In such cases, if the recording of location data and first sensor data is stopped in the middle of recording mode, it may be necessary to restart the recording mode run from the beginning in order to record this data. In contrast, the example in Figure 19 can suppress the occurrence of stopping the recording of location data and first sensor data in recording mode.

[0215] Figure 20 is a flowchart showing an example of the processing performed by the control device 180 when a user (e.g., driver) performs an operation to change the state of the work vehicle 100 in recording mode. The processing in the flowchart of Figure 20 can be performed at any time in recording mode, for example, in combination with any of the examples of flowcharts performed in recording mode described above.

[0216] In recording mode, the control device 180 receives a signal in step S162 that includes an instruction to change the state of the work vehicle 100. When a user (e.g., driver) performs an operation to change the state of the work vehicle 100, a signal including an instruction to change the state of the work vehicle 100 is transmitted to the control device 180 in response to the user's operation.

[0217] In step S164, the control device 180 determines whether the state of the work vehicle 100 (hereinafter sometimes referred to as "the assumed changed vehicle state") assumed to be changed based on the instruction received in step S162 is a state to be notified to the user. The determination in step S114 is made before the state of the work vehicle 100 is actually changed based on the received instruction.

[0218] The determination as to whether the assumed changed vehicle state is a state to be notified to the user is made, for example, by determining whether the assumed changed vehicle state satisfies any of a plurality of predetermined conditions. For example, when the assumed changed vehicle state satisfies any of a plurality of predetermined conditions, the control device 180 determines that the assumed changed vehicle state is a state to be notified to the user, and when the assumed changed vehicle state does not satisfy any of the plurality of predetermined conditions, the control device 180 determines that the assumed changed vehicle state is not a state to be notified to the user. As the plurality of predetermined conditions, the examples described above can be used. Typically, among the conditions (1) to (10) exemplified above, the conditions that may be satisfied by the change in the state of the work vehicle 100 due to the user's operation are applied. The control device 180 acquires the information necessary for the determination in the same manner as the method described above, and determines whether the conditions are satisfied based on the acquired information.

[0219] In step S164, when it is determined that the assumed changed vehicle state is a state to be notified to the user (when "Yes" in step S164), the control device 180 restricts (or prohibits) the change in the state of the work vehicle 100 based on the instruction received in step S162 in step S166.

[0220] In step S164, when it is determined that the assumed changed vehicle state is not a state to be notified to the user (when "No" in step S164), the control device 180 changes the state of the work vehicle 100 based on the instruction received in step S162 in step S168.

[0221] In the example of FIG. 20, in the recording mode, when an operation for changing the state of the work vehicle 100 is performed by the user, the control device 180 can limit the change of the vehicle state based on the user's operation so that the state of the work vehicle 100 after the change does not become a state to be notified to the user. Therefore, not only can the reproducibility of the operation of the work vehicle 100 in the playback mode be improved and the automatic driving of the work vehicle 100 in the playback mode be smoothly performed, but also the possibility of interruption of the recording of the position data can be reduced during the recording mode. When the recording of the position data is interrupted during the recording mode, the problem that the running of the recording mode needs to be restarted from the beginning can be solved, so that the convenience for the user is improved.

[0222] The traveling control system in the above embodiments can also be retrofitted to a work vehicle that does not have those functions. Such a control system can be manufactured and sold independently of the work vehicle. A computer program used in such a control system can also be manufactured and sold independently of the work vehicle. The computer program can be provided, for example, stored in a non-temporary computer-readable storage medium. The computer program can also be provided by downloading via a telecommunication line (for example, the Internet).

Industrial Applicability

[0223] The traveling control system according to the embodiment of the present invention is widely applicable to various types of work vehicles used in smart agriculture.

Explanation of Signs

[0224] 100 ··· Work vehicle, 110 ··· Positioning device (GNSS unit), 150 ··· Sensor group (internal sensor group), 180 ··· Control device, 210 ··· Operation switch group, 300 ··· Work implement, 1000 ··· Traveling control system

Claims

1. A vehicle driving control system for work vehicles, A positioning device that outputs positional data relating to the position of the aforementioned work vehicle, One or more internal sensors that output first sensor data relating to the status of the work vehicle, A control device that controls the operation of the aforementioned work vehicle and Equipped with, The control device is It can operate in both recording and playback modes. In the recording mode, the position data and the first sensor data acquired when the work vehicle is in motion are recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. In the recording mode, based on the position data and / or the first sensor data, it is detected that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user. A driving control system that, when it detects a condition that should be notified to the user, executes processing related to that condition.

2. The aforementioned process is, The driving control system according to claim 1, comprising processing performed in the recording mode.

3. The aforementioned process is, The driving control system according to claim 1, including processing performed in the aforementioned playback mode.

4. The aforementioned process is, A driving control system according to any one of claims 1 to 3, comprising stopping the recording of the position data and the first sensor data in the recording mode.

5. The control device is The driving control system according to claim 4, wherein, in the recording mode, when it is determined that there is a high probability that the recording of the position data and the first sensor data will be discontinued in the future, the notification device outputs a notification indicating that there is a high probability that the recording of the position data and the first sensor data will be discontinued in the future.

6. The aforementioned process is, The driving control system according to claim 4, comprising terminating the recording mode.

7. The aforementioned process is, The driving control system according to claim 4, further comprising deleting the position data and the first sensor data recorded before a state requiring notification to the user is detected from the storage device.

8. The aforementioned process is, The driving control system according to claim 4, further comprising not deleting the position data and the first sensor data recorded before a state requiring notification to the user is detected from the storage device.

9. The control device is The driving control system according to any one of claims 1 to 3, which, when it detects a state that should be notified to the user, continues to record the position data and the first sensor data in the recording mode.

10. The aforementioned process is, The driving control system according to claim 9, further comprising excluding the position data and the first sensor data related to a state to be notified to the user from the recording target in the recording mode.

11. The aforementioned process is, The driving control system according to any one of claims 1 to 3, further comprising outputting a notification from a notification device that provides information regarding a state to be notified to the user in the playback mode.

12. The aforementioned process is, A driving control system according to any one of claims 1 to 3, comprising changing the control method for automatic driving in the playback mode based on a state to be notified to the user.

13. The aforementioned process is, The driving control system according to claim 12, further comprising, based on a state to be notified to the user, decelerating the work vehicle and / or temporarily stopping the driving of the work vehicle in the automatic driving of the work vehicle in the playback mode.

14. The aforementioned process is, A driving control system according to any one of claims 1 to 3, which includes prohibiting the application of the playback mode based on a state to be notified to the user when the operation to start the playback mode is performed.

15. The aforementioned process is, The driving control system according to any one of claims 1 to 3, further comprising outputting a notification from a notification device that provides information regarding a state to be notified to the user in the recording mode.

16. The aforementioned process is, The driving control system according to any one of claims 1 to 3, further comprising recording in the storage device information regarding a state to be notified to the user in the recording mode.

17. The vehicle further comprises one or more external sensors that output second sensor data regarding the conditions around the work vehicle, The control device is In the recording mode described above, acquire the second sensor data, The driving control system according to any one of claims 1 to 3, wherein, in the recording mode, the system detects, based on the second sensor data, that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user.

18. The control device is The driving control system according to claim 17, which detects whether the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user, based on information of an obstacle obtained based on the second sensor data.

19. The control device is The driving control system according to claim 17, which detects whether the state of the work vehicle or the state of the surroundings of the work vehicle is in a state that should be notified to the user, based on information of the road traveled by the work vehicle obtained based on the second sensor data.

20. The control device is The driving control system according to any one of claims 1 to 3, wherein in the recording mode, if any of a predetermined set of conditions is met, it is determined that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user.

21. The control device is The driving control system according to claim 20, wherein, in the recording mode, when recording of the position data and the first sensor data is stopped, a notification device outputs a notification indicating which of the plurality of conditions has been met.

22. The control device is The driving control system according to claim 20, wherein, in the recording mode, when an operation to change the state of the work vehicle is performed by the user, if the state of the work vehicle assumed to have been changed based on the operation satisfies any of the plurality of conditions, the operation is restricted.

23. The aforementioned multiple conditions are, The roll angle of the aforementioned work vehicle exceeds a predetermined value. The pitch angle of the aforementioned work vehicle exceeds a predetermined value. The steering angle of the steering wheels of the aforementioned work vehicle exceeds a predetermined value. The positioning device is experiencing interference with receiving satellite signals. The engine of the aforementioned work vehicle is stopped, and The user performed an operation to cancel the aforementioned recording mode. The driving control system according to claim 20, comprising one or more of the following:

24. The aforementioned multiple conditions are, The wheels of the aforementioned work vehicle were found to be slipping. In the aforementioned recording mode, the time and / or distance traveled exceeds a predetermined value, and In the aforementioned recording mode, the period during which no user operation is performed after the driving is temporarily stopped exceeds a predetermined time. The driving control system according to claim 20, comprising one or more of the following:

25. The aforementioned multiple conditions are, The driving control system according to claim 20, further comprising the work vehicle being in a predetermined driving mode.

26. The aforementioned work vehicle is connected to a work machine, The aforementioned work vehicle has a coupling device for connecting the aforementioned work machine, The coupling device includes a PTO shaft that supplies power to the work machine. The aforementioned multiple conditions are, The travel control system according to claim 20, further comprising the condition that the rotation of the PTO shaft is turned ON.

27. A driving control system according to any one of claims 1 to 3, Running gear including the steering wheels, A drive unit that drives the aforementioned traveling device and Equipped with, A work vehicle that, in the playback mode, controls the drive unit based on the position data recorded in the recording mode, thereby driving the work vehicle automatically.

28. A control device for controlling the operation of a work vehicle, which is executed by a control device capable of operating in recording mode and playback mode, and a method for controlling the movement of a work vehicle, In the recording mode, position data relating to the position of the work vehicle and first sensor data relating to the state of the work vehicle, acquired when the work vehicle is in motion, are recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. In the recording mode, based on the position data and / or the first sensor data, it is detected that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user. When a state that should be notified to the user is detected, the process related to the state that should be notified to the user is executed. A driving control method including the following.

29. A computer program executed by a processor in a control device that controls the operation of a work vehicle and is capable of operating in recording mode and playback mode, The aforementioned processor, In the recording mode, position data relating to the position of the work vehicle and first sensor data relating to the state of the work vehicle, acquired when the work vehicle is in motion, are recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. In the recording mode, based on the position data and / or the first sensor data, it is detected that the state of the work vehicle or the state of the area around the work vehicle is in a state that should be notified to the user. When a state that should be notified to the user is detected, the process related to the state that should be notified to the user is executed. A computer program that executes something.

Images