Automated driving method, automated driving system, and program

Abstract

This technology provides a way to perform tasks efficiently using autonomous work vehicles. [Solution] An exemplary automated driving method is an automated driving method for a work vehicle, which involves generating a plurality of driving paths for the work vehicle to drive automatically, setting a turning start position in the driving path for the start of turning toward the next driving path, accepting a prior reservation of the turning direction at the turning start position, and when the work vehicle driving automatically along the driving path reaches the turning start position, automatically turning the work vehicle in the prior reserved turning direction.

Description

Technical Field

[0001] The present invention relates to an automatic driving method, an automatic driving system, and a program.

Background Art

[0002] Conventionally, an autonomous driving system for autonomously driving a work vehicle in a field has been known (see, for example, Patent Document 1). Patent Document 1 discloses that, on the condition that there has been a forward instruction by an operator to a stopped work vehicle, without causing the work vehicle to perform work, at least steering is autonomously performed to turn the work vehicle toward a previously specified straight path.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the configuration disclosed in Patent Document 1, it is necessary to once stop the work vehicle at the turning start position. For this reason, there is a risk that the efficiency of work by the work vehicle may decrease.

[0005] In view of the above points, an object of the present invention is to provide a technique that can efficiently perform work using a work vehicle that performs automatic driving.

Means for Solving the Problems

[0006] An exemplary automated driving method of the present invention is an automated driving method for a work vehicle, comprising: generating a plurality of driving paths for the work vehicle to drive automatically; setting a turning start position in the driving path for the start of turning toward the next driving path; accepting a prior reservation of the turning direction at the turning start position; and when the work vehicle, which is driving automatically along the driving path, reaches the turning start position, automatically turning the work vehicle in the prior reserved turning direction.

[0007] An exemplary automated driving system of the present invention comprises a work vehicle, an operating device provided to enable settings related to the automated driving of the work vehicle, and a control device that controls the automated driving of the work vehicle in response to instructions from the operating device, wherein the control device generates a plurality of driving paths for the work vehicle to drive automatically, sets a turning start position in the driving path to initiate a turn toward the next driving path, accepts a prior reservation of the turning direction at the turning start position using the operating device, and when the work vehicle driving automatically along the driving path reaches the turning start position, automatically turns the work vehicle in the prior reserved turning direction.

[0008] An exemplary program of the present invention is a program that causes a computer to execute an automatic driving method for a work vehicle, wherein the computer functions as a means for generating a plurality of driving paths for the work vehicle to drive automatically, setting a turning start position on each driving path to initiate a turn toward the next driving path, accepting a prior reservation of the turning direction at the turning start position, and when the work vehicle, which is automatically driving along the driving path, reaches the turning start position, automatically turning the work vehicle in the prior reserved turning direction. [Effects of the Invention]

[0009] According to an exemplary example of the present invention, work can be performed efficiently using an autonomous work vehicle. [Brief explanation of the drawing]

[0010] [Figure 1] Diagram showing the schematic configuration of an automated driving system. [Figure 2] Plan view showing the schematic configuration of the operating device. [Figure 3] Block diagram showing the general configuration of the work vehicle. [Figure 4] A diagram illustrating a method for generating a straight route for automated driving of a work vehicle. [Figure 5] A diagram illustrating the overview of automated driving performed by an automated driving system. [Figure 6] A diagram to explain how to update the endpoints that determine the work section. [Figure 7A] A schematic diagram showing the relationship between the operating position of the second control switch and the turning path. [Figure 7B] A schematic diagram showing the relationship between the operating position of the second control switch and the turning path. [Figure 7C] A schematic diagram showing the relationship between the operating position of the second control switch and the turning path. [Figure 8A] Diagram to explain the turning path pattern [Figure 8B] Other diagrams to explain the turning path patterns [Figure 9] A flowchart illustrating the process of autonomous driving. [Figure 10] This diagram illustrates a specific example of a situation where a change operation is performed to reverse the direction of rotation that was set in advance. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and descriptions will not be repeated unless they require further explanation.

[0012] <1. Overview of the Automated Driving System> FIG. 1 is a diagram showing a schematic configuration of an automatic driving system 100 according to an embodiment of the present invention. As shown in FIG. 1, the automatic driving system 100 includes a work vehicle 1 and an operation device 2. The view of the work vehicle 1 included in FIG. 1 is a side view.

[0013] In this specification, automatic driving means that at least steering is autonomously performed by controlling a device related to driving by a control device provided in the work vehicle 1. The automatic driving may be configured such that at least one of, for example, adjustment of the vehicle speed and operation of a work implement is autonomously performed in addition to steering. In the exemplary automatic driving of the present embodiment, steering is autonomously performed, and adjustment of the vehicle speed and operation of the work implement are generally manually performed.

[0014] [1-1. Work Vehicle] The work vehicle 1 is used for performing work such as agricultural work and construction work. As shown in FIG. 1, the work vehicle 1 includes a traveling body 11 that travels on the ground and a work implement 12 that is connected to the traveling body 11.

[0015] Here, for the convenience of the following description, the directions are defined as follows. The direction in which the traveling body 11 and the work implement 12 are aligned is defined as the front-rear direction, and it is assumed that the work implement 12 is on the rear side when viewed from the traveling body 11. The left-right direction is defined such that the left side is the left side and the right side is the right side when looking from the rear to the front. Further, the gravitational direction perpendicular to the front-rear direction and the left-right direction is defined as the up-down direction, the upstream side in the gravitational direction is defined as the upper side, and the downstream side is defined as the lower side. In the drawings, the front is indicated by the symbol "F", the rear is indicated by the symbol "B", the right side is indicated by the symbol "R", the left side is indicated by the symbol "L", the upper side is indicated by the symbol "U", and the lower side is indicated by the symbol "D" as necessary.

[0016] In the present embodiment, the work implement 12 is disposed behind the traveling body 11, but the present invention is also applicable to a work vehicle in which the work implement is disposed in front of the traveling body.

[0017] The traveling body 11 includes a body main body portion 111 and a traveling portion 112 disposed below the body main body portion 111.

[0018] The main body 111 comprises an outer cover 111a, a travel drive unit 111b located on the inner front side covered by the outer cover 111a, and a work machine drive unit 111c located on the inner rear side covered by the outer cover 111a.

[0019] The travel drive unit 111b includes a drive source and a power transmission mechanism that transmits power from the drive source to the travel unit 112. In this embodiment, the drive source of the travel drive unit 111b is an electric motor. However, the drive source of the travel drive unit 111b may be something other than an electric motor, such as an engine.

[0020] The work implement drive unit 111c includes a drive source and a PTO (Power Take Off) power transmission unit that enables the power from the drive source to be transmitted to the outside of the traveling machine body 11. In this embodiment, the drive source of the work implement drive unit 111c is an electric motor. Note that the electric motor of the work implement drive unit 111c and the electric motor of the traveling drive unit 111b are separate motors. Furthermore, the drive source of the work implement drive unit 111c may be something other than an electric motor, such as an engine. Also, the driving drive unit 111b and the work implement drive unit 111c may share the same drive source.

[0021] Inside the outer cover 111a, other components such as a battery that supplies power to the electric motor and power electronics equipment are arranged. Outside the outer cover 111a, for example, a light 111d, a positioning antenna 111e, and an alarm light 111f are arranged.

[0022] In this embodiment, the mobile body 11 does not have a driver's seat for an operator; that is, the work vehicle 1 operates unmanned. However, the present invention is also applicable to work vehicles that have a driver's seat on the mobile body 11. That is, the mobile body 11 may have a driver's seat or equipment (such as a steering wheel or levers) for an operator sitting in the driver's seat to operate the work vehicle.

[0023] The running section 112 supports the main body 111 so that it can move. More specifically, the running section 112 comprises a pair of left and right crawlers 112a. Each left and right crawler 112a is provided with a track frame 112b that extends in the front-rear direction. Each track frame 112b is attached to the lower part of the main body 111. A drive sprocket 112c is positioned at the front end of the track frame 112b as a drive wheel. Power is transmitted from an electric motor to the drive sprocket 112c via a power transmission mechanism provided in the running drive unit 111b. An idler 112d is positioned at the rear end of the track frame 112b as a driven wheel. The idler 112d is rotatably supported by the track frame 112b. Between the drive sprocket 112c and the idler 112d of the track frame 112b, a plurality of road wheels 112e are rotatably supported. A crawler 112a is formed by winding a crawler belt 112f around a drive sprocket 112c, an idler 112d, and multiple road wheels 112e.

[0024] In this embodiment, each left and right crawler 112a is driven by separate electric motors provided in the travel drive unit 111b. The travel unit 112 moves in a straight line forward or backward when, for example, the left and right pair of crawlers 112a are driven simultaneously in the same direction. Whether it moves forward or backward is determined by the rotation direction of the electric motors. The travel unit 112 can also turn left or right when, for example, the left and right pair of crawlers 112a are driven independently.

[0025] In this embodiment, the crawler 112a is configured by wrapping a crawler belt 112f around one drive wheel (drive sprocket 112c) and one driven wheel (idler 112d) arranged in the front-rear direction, but other configurations are also possible. For example, the crawler may be of a type in which the crawler belt is wrapped in a triangular shape around one drive wheel and two driven wheels. Also, in this embodiment, the running section 112 is of the crawler type, but the running section may be of a type other than the crawler type, for example, it may be of the wheel type.

[0026] The implement 12 is mounted to the traveling machine 11 via a hitch 13 so as to be able to move up and down. The hitch 13 includes the implement drive unit 111c described above. The implement 12 is interchangeable with the hitch 13. That is, the implement 12 can be replaced with various types. In Figure 1, the implement 12 is a tiller. The implement 12 may be, for example, a plow, fertilizer applicator, pesticide sprayer, harvester, mowing device, snow removal device, soil removal device, etc. In this embodiment, the implement 12 is provided so as to be able to move up and down, but the implement 12 does not have to be able to move up and down.

[0027] The configuration of the work vehicle 1 equipped with the automated driving system 100 is not limited to the configuration described above, and any configuration having a driving body and a work implement is acceptable. As described above, the work implement equipped with the work vehicle may be positioned in front of the driving body, for example, rather than behind it. The work vehicle 1 may be, for example, a tractor, a rice transplanter, a combine harvester, a harvester for harvesting various crops, a snowplow, or various civil engineering and construction machinery.

[0028] [1-2. Operating device] The operating device 2 is a remote control device that enables an operator located away from the work vehicle 1 to operate the work vehicle 1. The operating device 2 is provided to enable settings related to the manual operation of the work vehicle 1. The operating device 2 is also provided to enable settings related to the automatic operation of the work vehicle 1. In this embodiment, the operating device 2 is a remote control device provided separately from the work vehicle 1, but this is just an example. The operating device of the present invention may also be configured to be provided on the work vehicle itself. If the operating device is configured to be provided on the work vehicle, for example, the shape, arrangement, and type of the operating members described below may be changed as appropriate.

[0029] Figure 2 is a plan view showing the schematic configuration of an operating device 2 according to an embodiment of the present invention. As shown in Figure 2, the operating device 2 comprises a housing 21, a power switch 22, an antenna 23, an operating lever 24, an operating switch 25, an operating knob 26, and a display unit 27.

[0030] The housing 21 constitutes the main body of the operating device 2. The power switch 22, antenna 23, operating lever 24, operating switch 25, operating knob 26, and display unit 27 are each positioned appropriately on the housing 21. Note that the arrangement shown in Figure 2 is merely an example and may be changed as appropriate.

[0031] The power switch 22 is located in the center of the front of the housing 21 and can switch the operating device 2 between the power-on state and the power-off state. The power switch 22 is, for example, a seesaw switch. The power supply for the operating device 2 is, for example, a battery or dry cell located inside the housing 21.

[0032] Antenna 23 is provided protruding from the side of the housing 21 (the upper side in the example shown in Figure 2), enabling wireless communication with the work vehicle 1. In other words, the work vehicle 1 is provided with an antenna 15a (see Figure 3, described later) for wireless communication with the operating device 2. When the operating device 2 is powered on by the power switch 22, the operating device 2 can communicate wirelessly with the work vehicle 1. When the operating device 2 is powered off by the power switch 22, the operating device 2 cannot communicate with the work vehicle 1. In this embodiment, if communication with the operating device 2 is lost, the work vehicle 1, which is in motion, will automatically stop moving. That is, the power switch 22 functions as an emergency stop switch for the work vehicle 1. Note that the emergency stop switch may be provided separately from the power switch 22.

[0033] The operating lever 24 enables the movement of the work vehicle 1 and the operation of the work machine 12. In this embodiment, the operating lever 24 includes a first operating lever 24a and a second operating lever 24b, which are arranged side by side with the power switch 22 in between. The first operating lever 24a (the left lever in the example shown in Figure 2) can be tilted in two mutually orthogonal directions (F1-B1 direction and L1-R1 direction) as indicated by the dashed arrows in Figure 2. It can also be tilted to one side in the F1-B1 direction while simultaneously tilting to one side in the L1-R1 direction. The second operating lever 24b (the right lever in the example shown in Figure 2) can also be tilted in the same directions as the first operating lever 24a. Furthermore, the functions of the first operating lever 24a and the second operating lever 24b may be swapped.

[0034] In this embodiment, the first operating lever 24a and the second operating lever 24b perform different functions depending on whether the work vehicle 1 is in manual driving mode or automatic driving mode.

[0035] For example, in manual driving mode, tilting the first operating lever 24a in the F1 direction allows the work vehicle 1 to move forward. In manual driving mode, tilting the first operating lever 24a in the B1 direction allows the work vehicle 1 to move backward. In manual driving mode, tilting the first operating lever 24a in the L1 direction allows the work vehicle 1 to turn left. In manual driving mode, tilting the first operating lever 24a in the R1 direction allows the work vehicle 1 to turn right. In addition, in manual driving mode, the work implement 12 can be raised or lowered by operating the second operating lever 24b.

[0036] In automatic driving mode, the first control lever 24a and the second control lever 24b perform functions related to automatic driving settings. Details of this will be described later. For the sake of explanation, in the following, tilting the first control lever 24a in the F1 direction will be expressed as tilting it in the forward direction F1. Also, tilting the first control lever 24a in the B1 direction will be expressed as tilting it in the reverse direction B1. Also, tilting the first control lever 24a in the L1 direction will be expressed as tilting it in the left turn direction L1. Also, tilting the first control lever 24a in the R1 direction will be expressed as tilting it in the right turn direction R1.

[0037] The operation switch 25 enables various settings related to the work vehicle 1. In this embodiment, the operation switch 25 includes three operation switches 25a to 25c located on the front and sides of the housing 21. The first operation switch 25a (located on the upper right side in the example shown in Figure 2) is a momentary switch and enables multiple settings related to automatic driving. Details of this will be described later. The second operation switch 25b is a three-position toggle switch and enables settings related to automatic turning. Details of this will be described later. The third operation switch 25c (located on the upper left front in the example shown in Figure 2) is a toggle switch and is provided to switch between a state in which power transmission to the work machine 12 using the PTO power transmission unit is possible and a state in which it is not possible.

[0038] The types of operation switches 25a to 25c described above are merely examples. The types of operation switches 25a to 25c may be changed as appropriate.

[0039] The control knob 26 is located on the front of the housing 21 (on the upper front side in the example shown in Figure 2) and allows adjustment of the maximum speed (upper speed limit) of the work vehicle 1. In detail, there are two control knobs 26. One of the two control knobs 26 allows adjustment of the maximum speed of the work vehicle 1 when traveling in a straight line. The other of the two control knobs 26 allows adjustment of the maximum speed of the work vehicle 1 when traveling in a turning direction.

[0040] The display unit 27 is located on the front of the housing 21 (on the lower front side in the example shown in Figure 2) and displays various information to inform the operator. This information includes, for example, a display of the driving path during automatic driving and the positional relationship between the work vehicle 1 and the vehicle. The display unit 27 is composed of, for example, a liquid crystal display or an organic EL display. Note that the display unit 27 is not required.

[0041] <2. Configuration related to the autonomous driving of work vehicles> Next, we will describe the details of the configuration related to the automatic driving of the work vehicle 1 of this embodiment. Figure 3 is a block diagram illustrating the schematic configuration of the work vehicle 1 according to an embodiment of the present invention. Note that Figure 3 shows the components necessary to explain the characteristic configuration of the work vehicle 1 of this embodiment (mainly the configuration related to automatic driving), and descriptions of general components are omitted.

[0042] As shown in Figure 3, the work vehicle 1 is equipped with a control device 10. That is, the automatic driving system 100 is equipped with a control device 10. For example, the control device 10 controls the automatic driving of the work vehicle 1 in response to instructions from the operating device 2.

[0043] The control device 10 is a computer device comprising, for example, an arithmetic unit, an input / output unit, and a storage unit 101. The arithmetic unit is composed of, for example, a processor or a microprocessor. The storage unit 101 is a main memory such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 101 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Various programs and data are stored in the storage unit 101. The arithmetic unit performs various functions by reading various programs from the storage unit 101 and executing arithmetic processing according to the programs. The programs stored in the storage unit 101 may be provided, for example, on a computer-readable non-volatile recording medium. As another example, the programs may be provided from a program provision server via a communication line such as the Internet.

[0044] The control device 10 can operate as a reception unit 102, a route generation unit 103, a travel mode control unit 104, a travel control unit 105, a work machine control unit 106, and a notification control unit 107 through the cooperation of the above hardware and software. The control device 10 may consist of a single piece of hardware, or it may consist of multiple pieces of hardware that can communicate with each other. Some functions of the control device 10 may be included in the operating device 2.

[0045] Each of the functional units 102 to 107 of the control device 10 may be implemented by having the arithmetic unit execute arithmetic processing according to a program, i.e., by software, as described above, but may also be implemented by other methods. At least one of each of the functional units 102 to 107 may be implemented using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). In other words, at least one of each of the functional units 102 to 107 may be implemented by hardware using a dedicated IC or the like. Furthermore, at least one of each of the functional units 102 to 107 may be implemented using a combination of software and hardware. Also, each of the functional units 102 to 107 is a conceptual component. The function performed by one component may be distributed among multiple components. Furthermore, the functions of multiple components may be integrated into one component.

[0046] The control device 10 is connected to a positioning communication unit 14, a communication processing unit 15, a sensor 16, and a notification unit 17. In other words, the work vehicle 1 is equipped with a positioning communication unit 14, a communication processing unit 15, a sensor 16, and a notification unit 17.

[0047] The positioning communication unit 14 includes a positioning antenna 111e (see Figure 1), and uses the positioning signals received by the positioning antenna 111e from positioning satellites to acquire the position of the work vehicle 1 as information such as latitude and longitude. The positioning communication unit 14 outputs the position information of the work vehicle 1 to the control device 10. The positioning communication unit 14, for example, receives positioning signals from a reference station (not shown) in an appropriate manner and performs positioning using the known RTK-GNSS (Real Time Kinematic GNSS) method. The positioning communication unit 14 may also perform positioning using other methods such as the DGNSS (Differential GNSS) method.

[0048] The communication processing unit 15 communicates with the operating device 2 via the communication antenna 15a. The communication antenna 15a is an antenna for wireless communication with the operating device 2. For wireless communication, for example, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) may be used.

[0049] Sensor 16 detects information related to the work vehicle 1 and outputs the detected information to the control device 10. In this embodiment, sensor 16 includes multiple types of sensors. Each of the multiple types of sensors is connected to the control device 10 so that it can input a signal. The multiple types of sensors include, for example, an inertial measurement unit (IMU), an obstacle sensor, a vehicle speed sensor, and an elevation position sensor.

[0050] The inertial measurement device includes a 3-axis angular velocity sensor and a 3-axis acceleration sensor, and is capable of measuring the attitude of the work vehicle 1. The obstacle sensor is a sensor that detects obstacles present around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, radar, or LiDAR (Light Detection and Ranging). The vehicle speed sensor is a sensor that detects the speed of the work vehicle 1. The lifting position sensor is a sensor that detects the lifting position of the work machine 12, which is mounted to be liftable and movable.

[0051] The notification unit 17 is provided as a means for notifying the outside from the work vehicle 1. The notification unit 17 is not limited to one device, but may consist of multiple devices. The notification unit 17 may be, for example, an audio output device that outputs sound, a light-emitting device that emits light, a display device that displays information, etc. Specifically, the notification unit 17 may be configured to include at least one of the following: a speaker, a buzzer, a light, and a monitor.

[0052] The reception unit 102 of the control device 10 receives instructions from the operator using the operating device 2. Instructions using the operating device 2 include instructions related to automatic driving. Instructions received by the reception unit 102 may also include instructions related to manual driving, such as driving instructions during manual driving.

[0053] The route generation unit 103 generates multiple travel routes for the work vehicle 1 to travel automatically. In this embodiment, the multiple travel routes referred to here are work routes for performing work using the work machine 12. Each of the multiple travel routes is a straight route, and the multiple straight routes are arranged parallel to each other. The straight routes for the work vehicle 1 to travel automatically (routes for automated driving work) are generated, for example, as follows.

[0054] Figure 4 illustrates the method for generating a straight route SP for automatic driving of the work vehicle 1. When generating the straight route for automatic driving operations, a reference line L is first set. Note that the method for setting the reference line L described here is merely illustrative, and it may be generated by other methods.

[0055] When setting the baseline L, the work vehicle 1 is first manually moved to a suitable location (point A in the figure) in the work area (a field in this embodiment), and point A is registered using the operating device 2. In this embodiment, the manual movement of the work vehicle 1 is performed using the first operating lever 24a (see Figure 2) of the operating device 2. Point A registration using the operating device 2 is performed using the first operating switch 25a (see Figure 2). Upon operation of the first operating switch 25a, the reception unit 102 accepts the point A registration. The route generation unit 103 then registers the position of the work vehicle 1 obtained by the positioning communication unit 14 at the time the point A registration was set as the position of point A.

[0056] Once point A is registered, the operator manually drives the work vehicle 1 in a straight line using the control device 2 (specifically the first control lever 24a) to the target position (point B in the diagram). During this straight-line drive, the work vehicle 1 may perform work using the work machine 12. When the work vehicle 1 reaches the target position (point B), point B is registered using the control device 2. Point B registration using the control device 2 is performed using the first control switch 25a. Specifically, assuming that point A has already been registered, when the first control switch 25a is operated in the same way as when point A was registered, the reception unit 102 accepts the point B registration. The route generation unit 103 then registers the position of the work vehicle 1 obtained by the positioning communication unit 14 at the time the point B registration was set as the position of point B.

[0057] Once the positions of points A and B are registered, a straight line passing through points A and B is set as the reference line L (teaching path). In this embodiment, the same switch (first operation switch 25a) is used for registering points A and B, but this is merely an example, and separate switches for registering point A and point B may be provided on the operation device 2. The reference line may also be, for example, a straight line that is parallel to the front-to-back direction (vehicle orientation) of the work vehicle 1 at the time of point A registration and passes through point A. Alternatively, the reference line may also be, for example, a straight line that passes through point A and is parallel to the set orientation. In the two reference line setting methods shown as modified examples above, point B registration is unnecessary.

[0058] When a reference line L is set, the route generation unit 103 generates multiple straight routes SP for automated driving operations for the work target area (field) by arranging multiple lines parallel to the reference line L at predetermined intervals (see the dashed line in Figure 4). In this embodiment, the driving routes for automated driving operations are straight routes, but they may also be curved routes.

[0059] When the path generation unit 103 generates multiple straight paths SP, it sets a first endpoint EP1 and a second endpoint EP2 for each straight path SP, which determine the work section WS in which work is performed using the work implement 12. The work section WS is the section between the first endpoint EP1 and the second endpoint EP2. In each straight path SP, one of the first endpoint EP1 and the second endpoint EP2 becomes the starting position for work using the work implement 12. In addition, in each straight path SP, the other of the first endpoint EP1 and the second endpoint EP2 becomes the turning start position for turning towards the next straight path SP in which work is performed using the work implement 12. Note that the roles of the first endpoint EP1 and the second endpoint EP2 vary for each straight path SP, sometimes being the work start position and sometimes being the turning start position.

[0060] In this embodiment, the first endpoint EP1 and the second endpoint EP2 in each straight path SP are set based on the positions of points A and B described above. In the example shown in Figure 4, for example, the first endpoint EP1 is the intersection of a virtual line perpendicular to the reference line L and passing through point A with the straight path SP. The second endpoint EP2 is the intersection of a virtual line perpendicular to the reference line L and passing through point B with the straight path SP. Alternatively, the first endpoint EP1 may be determined based on point B, and the second endpoint EP2 may be determined based on point A.

[0061] The method for setting endpoints EP1 and EP2 is not limited to this, and other methods may be used. For example, the virtual line described above may intersect the reference line L diagonally rather than perpendicularly. Also, the setting of endpoints EP1 and EP2 may be configured so that the operator can freely specify their positions. For example, the operator may set endpoints EP1 and EP2 by tapping any position on the straight route SP displayed on a screen provided on the work vehicle 1 or the control device 2. Furthermore, the length of the work section WS may differ for each straight route SP, and accordingly, the method for setting endpoints EP1 and EP2 may differ for each straight route SP. In addition, the positions of endpoints EP1 and EP2 may be configured to be updated as needed. For example, the work section WS of each straight route SP may be configured to be updated sequentially according to the performance of the automated driving operation in the straight route SP in which the automated driving operation was performed the previous time.

[0062] In this embodiment, the path generation unit 103 also generates a turning path for moving from the currently traveling straight path SP to the next straight path SP where work will be performed. The turning path referred to here broadly includes paths that can reverse the front-to-back direction of the work vehicle 1, and the turning path may include not only paths that simply turn, but also paths in which a straight path is added to a turning path. Detailed examples of turning paths will be described later.

[0063] The driving mode control unit 104 controls the switching between manual driving mode and automatic driving mode. In this embodiment, in manual driving mode, the operator controls the driving of the work vehicle 1 and the operation of the work equipment 12 using the control device 2. In automatic driving mode, the steering of the work vehicle 1 is performed automatically, and the operator controls the adjustment of the vehicle speed of the work vehicle 1 and the operation of the work equipment 12 using the control device 2.

[0064] The driving mode control unit 104 switches the driving mode when, for example, the receiving unit 102 receives a driving mode switching instruction from the operator using the first operation switch 25a. Specifically, when the work vehicle 1 is in manual driving mode and the receiving unit 102 receives a driving mode switching instruction, the driving mode control unit 104 switches from manual driving mode to automatic driving mode. Also, when the work vehicle 1 is in automatic driving mode and the receiving unit 102 receives a driving mode switching instruction, the driving mode control unit 104 switches from automatic driving mode to manual driving mode.

[0065] In this embodiment, the instruction to switch the driving mode is performed by pressing the first operation switch 25a once. As described above, the first operation switch 25a is also used when instructing the registration of points A and B, but in this case, a double press of the first operation switch 25a is used so as to distinguish it from the instruction to switch the driving mode. That is, pressing the first operation switch 25a twice before point A is registered performs the registration of point A, and pressing the first operation switch 25a twice after point A is registered performs the registration of point B. However, these instruction operations are merely examples. For example, the system may be configured so that pressing the first operation switch 25a twice performs the instruction to switch the driving mode, and pressing it once performs the instruction to register points A and B. Also, the switch for switching the driving mode may be a different switch from the switch for instructing the registration of points A and B.

[0066] The driving control unit 105 controls the driving system of the work vehicle 1 according to the driving mode. When the driving mode is manual driving mode, the driving control unit 105 controls the driving system of the work vehicle 1 according to instructions from the operating device 2. When the driving mode is automatic driving mode, the driving control unit 105 automatically controls at least a part of the driving system of the work vehicle 1. In this embodiment, for example, the driving control unit 105 performs automatic steering control (automatic steering) so that the work vehicle 1 travels along a predetermined path. When automatic steering control is performed, for example, the position and orientation of the work vehicle 1 are determined based on information obtained from the positioning communication unit 14 and the inertial measuring device included in the sensor 16. Then, calculations related to automatic steering are performed according to the positional relationship between the determined position of the work vehicle 1 and a predetermined automatic driving path (a path generated by the path generation unit 103), and steering control is performed according to the calculation results.

[0067] The work equipment control unit 106 controls the work system of the work vehicle 1 in response to instructions from the operating device 2. Control of the work system of the work vehicle 1 includes, for example, lifting and lowering control of the work equipment 12 and switching control of the power transmission state to the work equipment 12 using the PTO power transmission unit. The work equipment control unit 106 may be configured to switch the control of the work system of the work vehicle 1 according to the travel mode. That is, in automatic travel mode, the work equipment control unit 106 may be configured to automatically control the operation of the work equipment 12. Whether or not to automatically control the work equipment 12 when automatic travel mode is selected may be selectable by the operator.

[0068] The notification control unit 107 controls the notification unit 17. For example, when it becomes necessary to inform nearby persons such as the operator of the status of instruction reception from the operating device 2, when it is necessary to give advance notice of the operation of the work vehicle 1, or when it becomes necessary to inform the status of the work vehicle 1, the notification control unit 107 controls the notification unit 17 to perform a notification operation. The notification operation may be, for example, audio output, light emission, or display.

[0069] <3. Autonomous driving> Next, we will describe the automated driving of the work vehicle 1 performed by the automated driving system 100 of this embodiment.

[0070] [3-1. Overview] Figure 5 is a diagram illustrating the overview of automated driving performed by the automated driving system 100. In Figure 5, the generation of the straight route SP on which automated driving will take place, the setting of the endpoint EP that determines the work section WS, and the transition to automated driving mode have already been completed.

[0071] In Figure 5, the work vehicle 1 is automatically traveling along a straight path SP1 (automatic steering). At this time, the operator is giving a forward command by tilting the first operating lever 24a of the control device 2 in the forward direction F1. The amount the first operating lever 24a is tilted in the forward direction F1 adjusts the travel speed of the work vehicle 1.

[0072] Preferably, the operating device 2 is equipped with a function (speed lock instruction function) that instructs the operator to maintain the speed of the work vehicle 1 set by the operator. With such a configuration, even if the operator releases the first operating lever 24a after adjusting the speed by operating the first operating lever 24a, the work vehicle 1 can continue to travel at the speed set by the operator. In other words, the burden on the operator when the work vehicle 1 is automatically traveling along a straight path SP can be reduced. The speed lock instruction function may be obtained by using existing levers or switches, or by using newly installed operating members such as switches.

[0073] Furthermore, automatic travel along the straight path SP1 begins from one of the two endpoints EP1 and EP2 (in the example shown in Figure 5, endpoint EP1). To begin automatic travel, the operator operates the second operating lever 24b of the operating device 2 to lower the work implement 12, making it ready for work. Therefore, the work vehicle 1, traveling automatically along the straight path SP1 (work section WS), will perform work using the work implement 12. Note that, as described above, operations such as raising and lowering the work implement 12, or changing whether the work implement 12 is ready for work, may be performed automatically. For example, the work implement 12 may be made ready for work in conjunction with the operator pressing the first operating switch 25a to begin automatic travel upon reaching endpoint EP1.

[0074] The work vehicle 1, which is automatically traveling while performing work using the work implement 12, starts turning in the direction indicated by the operator using the control device 2 when it reaches the endpoint opposite to the endpoint where the work started (endpoint EP1 in the example shown in Figure 5) (endpoint EP2 in the example shown in Figure 5). This turn is performed so that work can be performed on the next straight path SP2, and the side on which the next straight path SP2 to be worked on is located becomes the turning direction indicated by the operator. In the example shown in Figure 5, since the next straight path SP2 to be worked on is on the right side, the turning direction indicated by the operator is to the right. Note that no work is performed using the work implement 12 during turning, so the operator raises the work implement 12 using the second control lever 24b before the start of the turn to disable it. Note that the action of disabling the work implement 12 may be performed automatically, for example, by detecting arrival at the endpoint where the turn starts (endpoint EP2 in the example shown in Figure 5), the work implement 12 may be automatically disabled.

[0075] Once the work vehicle 1 begins turning, it automatically turns and travels along the turning path TP generated by the path generation unit 103 (automatic steering). Even during automatic turning, the operator adjusts the travel speed of the work vehicle 1 by operating the first operating lever 24a of the operating device 2, just as when automatically traveling along a straight path SP. Steering control is also performed automatically during automatic turning.

[0076] When the work vehicle 1 reaches the starting position (endpoint EP2) of the next straight path SP2 via automatic turning, the automatic turning along the turning path TP is completed, and the automatic driving operation along the straight path SP2 begins. The operator lowers the work implement 12 to make it ready for operation when the automatic driving operation begins. The above operations are repeated, and the work vehicle 1 performs work by automatic driving along multiple straight paths SP set in the field, etc.

[0077] As mentioned above, the sensors 16 equipped on the work vehicle 1 include an obstacle sensor. When the obstacle sensor detects an obstacle while the work vehicle 1 is performing automatic driving or automatic turning, the control device 10 equipped on the work vehicle 1 automatically decelerates and stops the work vehicle 1. This improves the safety of the work vehicle 1 when it is performing automatic driving. Alternatively, instead of automatically stopping when an obstacle is detected by the obstacle sensor, or in addition to automatically stopping, the system may also be configured to notify the system of the detection of an obstacle via the notification unit 17.

[0078] Furthermore, it is preferable that the endpoint EP that determines the work section WS can be changed while the work vehicle 1 is automatically traveling along a straight path SP. For example, when the work vehicle 1 is automatically traveling along a straight path SP, if the operator gives an endpoint update instruction using the operating device 2, the endpoint closer to the position of the work vehicle 1 at the time the update instruction is given may be updated. Note that the instruction to update the endpoint EP may be made using an existing lever or switch, or by providing a new operating member such as a switch. For example, the instruction to update the endpoint EP may be made by pressing the first operating switch 25a twice.

[0079] Figure 6 is a diagram illustrating the updating of endpoint EP, which determines the work section WS. In Figure 6, it is assumed that work vehicle 1 issued an endpoint update instruction at a position closer to endpoint EP2, one of the two endpoints EP1 and EP2 shown in Figure 5. In Figure 6, the black circle representing endpoint EP2 is the endpoint before the update, and the white circle representing endpoint EP2 is the endpoint after the update.

[0080] Figure 6 illustrates a scenario where the desired endpoint EP2 is to be further along than the currently set endpoint EP2 (the black circle). This situation arises when the operator wants to perform work using the work implement 12 beyond the currently set endpoint EP2. For example, if there is no turning instruction at the currently set endpoint EP2, the work vehicle 1 will proceed beyond endpoint EP2. The operator stops the work vehicle 1 at the desired endpoint position and gives an endpoint update instruction. This updates the endpoint EP2 not only for the currently traveling straight path SP but also for other straight paths SP. The endpoint EP for other straight paths SP is set, for example, at the intersection of a virtual line perpendicular to the straight path SP, passing through the updated endpoint EP2 of the currently traveling straight path SP.

[0081] [3-2. Turning Path] Here, we will explain the turning path TP that the work vehicle 1 automatically turns. As described above, the turning path TP is generated by the path generation unit 103. The path generation unit 103 generates the turning path TP based on the setting of the second operation switch 25b (see Figure 2) of the operating device 2. The second operation switch 25b is, in detail, a switch that specifies the next straight path SP to be reached by turning. In this embodiment, the second operation switch 25b can be switched to one of three positions. Depending on which of the three positions is selected, the destination of the work vehicle 1 changes, and therefore the generated turning path TP will also be different.

[0082] Figures 7A, 7B, and 7C are schematic diagrams showing the relationship between the operating position of the second operating switch 25b and the rotation path TP. In Figures 7A, 7B, and 7C, the symbol EP represents one end point of the work section WS. The same applies to Figures 8A and 8B, which will be described later.

[0083] In Figure 7A, the second operation switch 25b is located in the first position P1, which is the middle of the three positions. When the second operation switch 25b is in the first position P1, the route generation unit 103 recognizes that the destination for automatic turning is set to the straight path SP2, which is one step away from the straight path SP1 currently being traveled. The route generation unit 103 generates the turning path TP in accordance with this recognition.

[0084] In Figure 7B, the second operation switch 25b is located in the second position P2, which is tilted to one side from the first position P1. When the second operation switch 25b is in the second position P2, the path generation unit 103 recognizes that the destination for automatic turning is set to the straight path SP3, which is two paths away from the straight path SP1 currently being traveled. The path generation unit 103 generates the turning path TP in accordance with this recognition.

[0085] In Figure 7C, the second operation switch 25b is located in the third position P3, which is tilted to the other side from the first position P1. When the second operation switch 25b is in the third position P3, the path generation unit 103 recognizes that the destination for automatic turning is set to the straight path SP4, which is three steps away from the straight path SP1 currently being traveled. The path generation unit 103 generates the turning path TP in accordance with this recognition.

[0086] From the above explanation of the second operation switch 25b, it can be said that the second operation switch 25b is a switch that determines the number of straight paths SP that are skipped from among a plurality of straight paths SP arranged in a row without being used as a destination during turning. Under this interpretation, when the second operation switch 25b is in the first position P1, the number of skips is set to zero. When the second operation switch 25b is set to the second position P2, the number of skips is set to "1". When the second operation switch 25b is set to the third position P3, the number of skips is set to "2".

[0087] Note that the relationship between the selected position (P1~P3) of the second operation switch 25b and the number of skips shown in Figures 7A, 7B, and 7C is merely illustrative, and these relationships may be changed as appropriate. Also, the number of skips set is not limited to three; it may be two, four or more.

[0088] By the way, it is preferable that the turning pattern (turning pattern) for transitioning to the next straight path SP be a different pattern depending on the set number of skips, etc. In other words, it is preferable that the turning path TP pattern is not limited to just one type, but multiple types of patterns are available for selection. Furthermore, it is preferable that the turning path TP pattern is determined not only by the number of skips, but also by considering the spacing between straight paths SP and the width of the work equipment 12, etc. In this embodiment, the turning path TP pattern is automatically determined based on the set value of the number of skips and the width of the work equipment 12, etc.

[0089] Figure 8A is a diagram illustrating the patterns of the turning path TP. Note that Figure 8A assumes that the number of skips is zero. When the number of skips is zero, the distance D between the straight paths SP on which movement takes place becomes narrower. Therefore, if the work vehicle 1 performs a turning maneuver in an arc shape as shown in the left side of Figure 8A, the turning destination may deviate from the target straight path SP. For this reason, it is preferable that a so-called fishtail turn path (fishtail turn path), as shown in the right side of Figure 8A, be selectable as the turning path TP.

[0090] The operator's operation of the control device 2 during automatic turning along the fishtail turn path shown in Figure 8A is as follows. Here, it is assumed that the operator has already instructed the vehicle to turn to the left at the endpoint EP (turn start position) set on the straight path SP where the automatic driving operation is being performed. The operator moves the first control lever 24a in the forward direction F1. As a result, the work vehicle 1 turns to the left and proceeds to point KP1, where it stops. When the work vehicle 1 stops at point KP1, the operator moves the first control lever 24a in the reverse direction B1. As a result, the work vehicle 1 reverses to point KP2 and stops. When the work vehicle 1 stops at point KP2, the operator moves the first control lever 24a in the forward direction F1. As a result, the work vehicle 1 turns left from point KP2 and moves forward to the endpoint EP (automatic driving operation start position) set on the next straight path SP. Furthermore, because it is an automated steering system, the operator does not need to give instructions regarding the turning direction.

[0091] Figure 8B is another diagram illustrating the patterns of the turning path TP. Note that Figure 8B assumes that the number of skips is "2". If the number of skips increases, turning with an arc-shaped turning pattern as shown on the left side of Figure 8B will increase the width required for turning in the direction parallel to the straight path SP (forward and backward direction). As a result, the range in which work can be performed using the work machine 12 will be narrowed, and work efficiency may decrease. For this reason, it is preferable that the turning path TP be a path that includes a straight travel section extending in a direction perpendicular to the straight path SP (left and right direction), as shown in the diagram on the right side of Figure 8B (flat turn path). When turning along a flat turn path, the work vehicle 1 proceeds to point KP3 while turning to the left, and then proceeds straight from point KP3 to point KP4. Then, the work vehicle 1 moves forward while turning to the left from point KP4 to reach the endpoint EP (automatic travel work start position) set for the next straight path SP. When a flat turn is to be performed, the operator only needs to move the first control lever 24a in the forward direction F1. Furthermore, since it is an automatic steering system, the operator does not need to give instructions regarding the turning direction.

[0092] [3-3. Specific Examples of Automated Driving Methods] Next, a specific example of the automatic driving method of the work vehicle 1 performed by the automatic driving system 100 of this embodiment will be described.

[0093] Figure 9 is a flowchart illustrating the flow of an automated driving method according to an embodiment of the present invention. In this embodiment, the automated driving method of the work vehicle 1 is realized by having a computer (control device 10) execute calculation processing according to a program. In this embodiment, the process shown in Figure 9 is executed when the work vehicle 1 and the operating device 2 are in a state where they can communicate with each other. Furthermore, the work machine 12 can be changed between a workable state and a non-workable state as appropriate, either manually or automatically, as described above, and in principle, the explanation of the work machine 12 is omitted in the explanation of Figure 9.

[0094] In step S1, the control device 10 (specifically the path generation unit 103) generates multiple travel paths for the work vehicle 1 to automatically travel. That is, the automatic travel method of this embodiment performs the operation of generating multiple travel paths for the work vehicle 1 to automatically travel. The multiple travel paths are, in detail, straight paths SP (see Figure 4, etc.), and are work paths (work paths) for performing work using the work machine 12. The multiple straight paths SP are generated by performing the operation of registering points A and B as described above. The control device 10 also sets endpoints EP that determine the work section WS for each generated straight path SP. As described above, endpoints EP are used as turning start positions, etc., to start turning toward the next straight path SP. In other words, the control device 10 sets turning start positions in the travel path to start turning toward the next travel path. The automatic travel method performs the operation of setting turning start positions in the travel path to start turning toward the next travel path. Once the process of generating travel paths is completed, the process proceeds to the next step S2.

[0095] In step S2, the control device 10 (specifically the reception unit 102) monitors whether or not the operator has given an instruction to execute automatic driving. In this embodiment, the instruction to execute automatic driving is given by the operator pressing the first operation switch 25a of the operation device 2 once, as described above. When the operator presses the first operation switch 25a once, the control device 10 determines that the operator has given an instruction to execute automatic driving. If the control device 10 determines that an instruction to execute automatic driving has been given (Yes in step S2), it proceeds to the next step S3. If the control device 10 determines that there was no instruction to execute automatic driving (No in step S2), it repeats the process in step S2.

[0096] After obtaining multiple straight-line paths SP for the automated driving operation, the operator moves the work vehicle 1 to one of the two endpoints EP1 and EP2 (see Figure 5, etc.) set on the first straight-line path SP to be operated, and then gives the command to execute automated driving. The movement of the work vehicle 1 at this time may be done manually, or it may be done automatically (in the detailed example, by turning).

[0097] In step S3, the control device 10 (specifically the reception unit 102) determines whether or not the operator has made a reservation instruction for the turning direction at the turning start position. The turning start position is the endpoint EP on the opposite side of the endpoint EP that is the starting position for the automated driving operation on the straight path SP.

[0098] In detail, the control device 10 determines whether or not a reservation instruction for the turning direction has been given in accordance with the automatic driving execution instruction in step S2. In this embodiment, the reservation instruction for the turning direction is given using the first operating lever 24a of the operating device 2. When the operator pushes the first operating lever 24a in the direction in which they want to turn and presses the first operating switch 25a, which is the automatic driving execution instruction, once, the control device 10 determines that a reservation instruction for the turning direction at the turning start position has been given. If the control device 10 determines that a reservation instruction for the turning direction has been given (Yes in step S3), it proceeds to the next step S4. If the control device 10 determines that there was no reservation instruction for the turning direction (No in step S3), it proceeds to step S9.

[0099] In step S4, the control device 10 (specifically the reception unit 102) receives the turning direction at the turning start position before automatic driving begins. That is, the control device 10 receives a pre-reservation of the turning direction at the turning start position using the operating device 2. The automatic driving method executes the receipt of the pre-reservation of the turning direction at the turning start position. For example, if the operator pushes the first operating lever 24a to the right turning direction R1 and presses the first operating switch 25a once, the control device 10 will receive a pre-reservation of a right turn at the turning start position. The contents of the pre-reservation are stored in the memory unit 101. The contents stored in the memory unit 101 may include not only the turning direction but also the turning path TP generated by the path generation unit 103 in response to the determination of the turning direction.

[0100] In this embodiment of the automatic driving method, a preferred configuration is that, upon receiving a pre-booking, the work vehicle 1 is configured to notify the outside of the received turning direction. Specifically, this notification is performed using a notification unit 17 provided in the work vehicle 1 under the control of a notification control unit 107. A concrete example is the use of a speaker (an example of the notification unit 17) to output a voice message such as "We have received a reservation for a right turn." Another example is the illumination or flashing of a turn signal (an example of the notification unit 17) that corresponds to the received turning direction. The period during which the turn signal is illuminated or flashed may be a short period of time after the pre-booking is received, or it may be the period from the time the pre-booking is received until the turn is completed at the turning start position. By notifying the outside of the work vehicle 1 that a pre-booking of the turning direction has been received, the operator can confirm the turning direction they have reserved, thereby suppressing the occurrence of errors in setting the turning direction.

[0101] In step S4, the control device 10 (specifically the driving mode control unit 104) switches the driving mode of the work vehicle 1 to automatic driving mode and starts automatic straight-line control. As a result, the control device 10 (specifically the driving control unit 105) starts automatic steering control so that the work vehicle 1 travels along the straight path SP. During automatic straight-line control, the work vehicle 1 automatically travels in a straight line when the operator moves the first operating lever 24a of the operating device 2 in the forward direction F1 (see Figure 2). The amount the first operating lever 24a is moved in the forward direction F1 adjusts the travel speed of the work vehicle 1. If the operating device 2 has the above-mentioned speed fixing instruction function, the operator can release their hand from the first operating lever 24a after adjusting the speed and allow the work vehicle 1 to travel automatically. Also, as described above, the work machine 12 is kept in a workable state during automatic straight-line control, and automatic driving work using the work machine 12 is performed by automatic straight-line driving. Once the pre-reservation of the turning direction is accepted and the automatic straight-line control is initiated, the process proceeds to the next step, S5.

[0102] In step S5, the control device 10 (specifically the reception unit 102) determines whether or not there has been a cancellation instruction for a previously received reservation for a turning direction. In other words, the automatic driving method of this embodiment is configured to accept cancellations for turning directions that have been reserved in advance. Cancellation instructions for turning directions may be made, for example, using the operation lever 24 or operation switch 25 provided on the operation device 2, or they may be made using an operating member such as a switch provided separately for cancellation instructions. For example, if the operator presses the cancel button, the control device 10 determines that the operator has given a cancellation instruction for a turning direction. If the control device 10 determines that there has been a cancellation instruction (Yes in step S5), it proceeds to step S11. If the control device 10 determines that there has been no cancellation instruction (No in step S5), it proceeds to the next step S6.

[0103] In step S6, the control device 10 (specifically the travel control unit 105) determines whether the work vehicle 1 has reached the turning start position (one end point of the work section WS). Whether or not the turning start position has been reached is determined by the position information obtained from the positioning communication unit 14 (see Figure 3). If it is determined that the turning start position has been reached (Yes in step S6), the process proceeds to the next step S7. If it is determined that the turning start position has not been reached (No in step S6), the process returns to step S5.

[0104] In step S7, the control device 10 (specifically the travel control unit 105) causes the work vehicle 1 to start automatic turning in the pre-reserved turning direction. That is, when the work vehicle 1, which is automatically traveling along the travel path, reaches the turning start position, the control device 10 automatically turns the work vehicle 1 in the pre-reserved turning direction. The automatic travel method executes the action of automatically turning the work vehicle 1 in the pre-reserved turning direction when the work vehicle 1, which is automatically traveling along the travel path, reaches the turning start position. With this configuration, the work vehicle 1 can be automatically turned without stopping the work vehicle 1 at the turning start position, thus improving work efficiency. Automatic turning travel is performed along the turning path TP generated by the path generation unit 103. In automatic turning travel, steering is performed automatically, so the operator adjusts the travel speed of the work vehicle 1 by operating the first operating lever 24a of the operating device 2. Once automatic turning travel has started, the process proceeds to the next step S8.

[0105] Furthermore, when the work vehicle 1 is to automatically turn, it is preferable to illuminate or flash the turn signals so that the direction of the turn is clear. It is also preferable that the illumination or flashing of the turn signals begin before the vehicle reaches the turning start position. The timing before reaching the turning start position may be determined by, for example, distance or time. The distance can be obtained using position information obtained from the positioning communication unit 14. The time can be obtained using the aforementioned position information and the current speed of the work vehicle 1. For example, the configuration may be such that the illumination or flashing of the turn signals begins 5 seconds or 3 seconds before reaching the turning start position.

[0106] In step S8, the control device 10 (specifically the travel control unit 105) determines whether the work vehicle 1 has reached the turning end position. The turning end position is the endpoint EP of the work section WS set for the next straight path SP to be worked on, and is the starting position of the next straight path SP to be worked on. Whether or not the turning end position has been reached is determined by the position information obtained from the positioning communication unit 14 (see Figure 3). If it is determined that the turning end position has been reached (Yes in step S8), the process proceeds to step S9, and automatic straight-line control on the next straight path SP is started. If it is determined that the turning end position has not been reached (No in step S8), the process in step S8 is repeated.

[0107] In step S9, the control device 10 (specifically the driving control unit 105) starts automatic straight-line control when there is no reservation for the turning direction at the turning start position. The details of the automatic straight-line control are as described above, so an explanation is omitted here. Once automatic straight-line control is started, the process proceeds to the next step S10.

[0108] In step S10, the control device 10 (specifically the reception unit 102) determines whether or not the operator has given a reservation instruction for the turning direction at the turning start position. In other words, in this embodiment, the operator can make a reservation for the turning direction not only when the automatic straight-line function is activated, but also after the automatic straight-line control has started. The reservation instruction for the turning direction may be the same as the reservation instruction for the turning direction given in conjunction with the automatic driving execution instruction. That is, if the operator pushes the first operation lever 24a in the direction to be turned and presses the first operation switch 25a once, the control device 10 may be configured to determine that a reservation instruction for the turning direction at the turning start position has been given. Note that the method of giving a reservation instruction for the turning direction may differ between step S10 and step S2, and the instruction to reserve a turn in step S10 may be configured to push the first operation lever 24a in the direction to be turned for a predetermined period of time or longer (a long push). If the control device 10 determines that there is a reservation instruction for the turning direction (Yes in step S10), it proceeds to step S5 described above. If the control device 10 determines that there is no reservation instruction for the turning direction (No in step S10), it proceeds to the next step S11.

[0109] In step S11, the control device 10 (specifically the travel control unit 105) determines whether the work vehicle 1 has reached a position a predetermined distance before the turning start position. Whether or not this position has been reached is determined by position information obtained from the positioning communication unit 14 (see Figure 3). The position a predetermined distance before the turning start position is a position at which the work vehicle 1 can stop at the turning start position by starting to decelerate, and may be a position determined empirically. The position a predetermined distance before the turning start position may also be changed according to the speed of the work vehicle 1. If it is determined that the work vehicle 1 has reached the position a predetermined distance before the turning start position (Yes in step S11), the process proceeds to the next step S12. If it is determined that the work vehicle 1 has not reached the position a predetermined distance before the turning start position (No in step S11), the process returns to step S10.

[0110] In step S12, the control device 10 (specifically the travel control unit 105) performs a stopping process so that the work vehicle 1 stops at the turning start position. The stopping process may be, for example, a configuration that automatically reduces the speed in stages or a braking process. Preferably, the stopping process also includes a process that prompts the operator to give a turning instruction when the work vehicle 1 stops at the turning start position. With this configuration, if the operator has forgotten to give an instruction for the turning direction, they can quickly understand why the work vehicle 1 has stopped and give an instruction to the work vehicle 1 quickly. In other words, the efficiency of work using the work vehicle 1 can be improved. The process that prompts the turning instruction may be, for example, a configuration in which the notification unit 17 of the work vehicle 1 outputs a buzzer sound or voice guidance, or a configuration that illuminates a light or other light-emitting means. Alternatively, the process that prompts the turning instruction may be a configuration in which the notification unit (e.g., display unit 27, etc.) of the operating device 2 displays a message prompting the turning instruction. Once the stopping process is completed, the process proceeds to the next step S13.

[0111] In step S13, the control device 10 (specifically the reception unit 102) determines whether or not a turning instruction has been received from the operator. The turning instruction may be the same as or different from the reservation instruction for the turning direction in step S2 or step S10. However, the turning instruction must include an instruction for the turning direction. If it is determined that a turning instruction has been received (Yes in step S13), the process proceeds to step S7 and automatic turning travel begins. If it is determined that no turning instruction has been received (No in step S13), the process proceeds to the next step S14.

[0112] In step S14, the control device 10 (specifically the reception unit 102) determines whether or not the operator has given an instruction to end automatic driving. In this embodiment, the instruction to end automatic driving is given by the operator operating the first operation switch 25a of the operation device 2 (for example, by pressing it once). If it is determined that an instruction to end automatic driving has been given (Yes in step S14), the automatic driving method shown in Figure 9 is terminated. After the automatic driving method is terminated, the operator will manually drive the work vehicle 1. If it is determined that there was no instruction to end automatic driving (No in step S14), the process returns to step S13 and the processing from step S13 onward is carried out.

[0113] [3-4. Supplementary Explanation] The following provides supplementary information regarding the autonomous driving method described above.

[0114] In the above configuration, the pre-reservation of the turning direction at the turning start position is possible both when the work vehicle 1 transitions to a mode in which it automatically drives along the travel path (in the detailed example, a straight path SP), and while the work vehicle 1 is automatically driving along the travel path. However, the configuration may be such that pre-reservations are possible at only one of these two timings. That is, pre-reservations may be made possible at least at one of the following times: when the work vehicle 1 transitions to a mode in which it automatically drives along the travel path, and while the work vehicle 1 is automatically driving along the travel path.

[0115] Furthermore, in this embodiment, if a prior reservation is accepted, the work vehicle 1 is automatically rotated without stopping at the rotation start position. This allows the work performed by the work vehicle 1 to be carried out efficiently. On the other hand, if a prior reservation is not accepted, the work vehicle 1 is stopped at the rotation start position. Specifically, it is automatically stopped at the rotation start position. This ensures safety.

[0116] Further explanation will be provided, referring to Figure 5 used in the previous explanation. Here, it is assumed that a pre-reservation of the turning direction has been made at the start of the automated driving operation on the first straight path SP1. The work vehicle 1, which started automated driving from the starting position (endpoint EP1) along the first straight path SP1, begins to turn in the pre-reserved turning direction (right) without stopping when it reaches the automated turning start position (endpoint EP2), and performs automated turning driving along the turning path TP. Then, when the work vehicle 1 reaches the starting position (endpoint EP2) set for the automated driving operation on the next straight path SP2, it ends the automated turning driving and starts automated driving operation along the straight path SP2. During this automated driving operation, since no pre-reservation of the turning direction has been made at the turning start position (endpoint EP1), the work vehicle 1 automatically stops when it reaches the turning start position. If automatic stopping is not desired, the operator operates the control device 2 while the automated driving operation is being performed along the straight path SP2 to pre-reserve the turning direction (left).

[0117] In other words, in the automated driving method of this embodiment, when a reservation is made in advance, the turning direction at the turning start position is set only for the one driving route that is currently subject to automated driving (in a detailed example, the straight route SP). In the example shown in Figure 5, the vehicle may be configured to automatically stop when the automated turning from the first straight route SP1 to the next straight route SP2 is completed (i.e., when it reaches the starting position of the automated driving operation on the straight route SP2). By configuring it in this way, the operator can be prompted to make a reservation for the turning direction in advance. The system may also be configured to provide voice guidance or the like to prompt the operator to make a reservation when the vehicle automatically stops.

[0118] When a pre-reservation is accepted, the system may be configured to set the turning direction at the start of a turn not only for the single travel route currently subject to automatic driving (in the detailed example, the straight route SP), but also for travel routes that will be subject to automatic driving in subsequent instances. In this case, in detail, the turning direction set for each travel route by pre-reservation will be the opposite direction each time the travel route changes. To explain using the example shown in Figure 5, if a pre-reservation of the turning direction is made at the start of the automatic driving operation on the initial straight route SP1, the turning directions set for each straight route SP1 to SP4 will be right, left, right, and left in order from the initial straight route SP1. With this configuration, once the turning direction is pre-reserved, the operation can continue without issuing turning instructions for each travel route (straight route SP), thereby reducing the operator's workload and improving work efficiency.

[0119] The operator may choose whether to set the pre-reservation of the turning direction for only one travel route (straight route SP) or to set it for multiple travel routes at once. A selection means such as a button to make such a selection may be provided on the operating device 2, or it may be provided on the work vehicle 1.

[0120] The above explains how to update the endpoint EP set for a straight path SP. A supplementary explanation will now be given regarding the relationship between updating the endpoint EP and pre-booking the turning direction. If, after pre-booking, the operator wants to change the endpoint EP, which is the starting position for turning, to a position closer to the front of the work vehicle 1's direction of travel, the operator can stop the work vehicle 1 at the desired position during automatic driving and use the control device 2 to instruct the operator to change the endpoint EP. This will change the endpoint EP, and by instructing the operator 2 to drive forward, the automatic turning operation can be initiated.

[0121] On the other hand, if a pre-booked operation is made and the operator wants to change the endpoint EP, which is the starting position for the turn, to the far side in the direction of travel of the work vehicle 1, the operator must first cancel the pre-booked operation using the above procedure. If the pre-booked operation is not canceled, the automatic turning will begin as soon as the work vehicle 1 reaches the endpoint EP, which is the starting position for the turn, and the endpoint EP cannot be updated.

[0122] Furthermore, in this implementation, if no prior reservation has been made, the work vehicle 1 will automatically stop when it reaches the endpoint EP, which is the starting position for turning. Even in this case, the position of the endpoint EP can be changed to the far side in the direction of travel by issuing a forward command after the automatic stop. However, since it would be inconvenient if the automatic stop occurs when it is desired to change the endpoint EP to the far side in the direction of travel, the system may be configured so that an instruction to temporarily cancel the automatic stop function can be given from the control device 2. Also, since it is expected that the endpoint EP will be updated if a prior reservation is canceled after it has been made, the system may be configured so that the automatic stop at the endpoint EP, which is the starting position for turning, does not occur when a prior reservation is canceled.

[0123] In the embodiment described above, if the operator wishes to change the rotation direction after making a reservation for it, they must first cancel the reservation and then make a new reservation for the rotation direction. Alternatively, the system may be configured to accept a change operation to reverse the rotation direction at the rotation start position set by the reservation. With such a configuration, the operator can flexibly change the reserved rotation direction according to the work situation, etc.

[0124] The operation to change the rotation direction to the opposite direction may be, for example, by operating the first operating lever 24a in the opposite direction to the direction operated during the prior reservation. However, in order to prevent erroneous operation, it is preferable that the operation to change the rotation direction to the opposite direction be configured such as operating the first operating lever 24a in the opposite direction for a certain period of time or longer (performing a long tilt), or operating the first operating lever 24a in the opposite direction while pressing the first operating switch 25a once.

[0125] Figure 10 shows a specific example of a situation in which a change operation is performed to reverse the turning direction set by a pre-reservation. In Figure 10, the straight path SP in which the automated driving operation is performed first is the leftmost straight path SP1. In Figure 10, the automated driving operation starts at the endpoint EP1 of the first straight path SP1, and the turning direction at the turning start position is pre-reserved at the start of the automated driving operation. This pre-reservation is configured to set the turning direction at the turning start position of each straight path SP collectively.

[0126] Furthermore, in Figure 10, the number of skips set by the second operation switch 25b (see Figure 2) is "1". As a result, the automatic driving operation is performed skipping every other straight path SP1 from the leftmost straight path. In other words, the automatic driving operation is performed on the odd-numbered straight paths SP in order from the leftmost straight path SP1, starting with the smallest number.

[0127] When the work vehicle 1, which is automatically traveling along the first straight path SP1, reaches the turning start position (endpoint EP2), it automatically starts turning to the right and travels in an automated turning manner to the automatic travel start position (endpoint EP2) of the next straight path SP3, which is the path to be worked on. When the work vehicle 1, which is automatically traveling along the straight path SP3, reaches the turning start position (endpoint EP1), it automatically starts turning to the left and travels in an automated turning manner to the automatic travel start position (endpoint EP1) of the next straight path SP5, which is the path to be worked on. In the example shown in Figure 10, it is assumed that the work vehicle 1 has completed the automatic travel work up to an intermediate position on the rightmost straight path SP13 by repeating these actions. In Figure 10, the straight paths SP for which the automatic travel work has been completed are shown with thick lines.

[0128] The operator plans to perform automated driving operations on all straight routes SP that have been skipped so far (untraveled routes) from among all the straight routes SP generated as work routes, once the automated driving operation is completed up to the endpoint EP2 of the straight route SP13 on the far right. In the example shown in Figure 10, the untraveled routes are the straight routes SP with even numbers. In order to perform work on these untraveled routes, the operator changes the turning direction, which was set in advance, to the opposite direction while the work vehicle 1 is traveling along the straight route SP13. As a result, when the work vehicle 1 reaches the endpoint EP2 of the straight route SP13, it turns to the left instead of to the right and reaches the automated driving start position (endpoint EP2) of the straight route SP12 by automatically turning. Then, when the work vehicle 1 performing automated driving operations on the straight route SP12 reaches the turning start position (endpoint EP1), it automatically starts turning to the right and reaches the automated driving start position (endpoint EP1) of the straight route SP10, which is the next route to be worked on, by automatically turning. By repeating this operation, once the work vehicle 1 completes the automated driving operation on the straight route SP2, the automated driving operation can be completed for all straight routes SP.

[0129] In the example shown in Figure 10, when a change operation is made to reverse the turning direction set by prior reservation, the initial turning path TP is set to skip number "0" instead of skip number "1". This is because if the skip number remains "1", it will not be possible to move to an untraveled path. This change in the skip number may be achieved by the operator operating the second operation switch 25b, but such a change in the skip number may also be configured to be performed automatically by the program. In a configuration where the skip number is changed automatically, the operator may be able to select in advance what skip number to use.

[0130] <4. Things to keep in mind> Various technical features disclosed herein can be modified in various ways without departing from the spirit of the technical creation. Furthermore, the multiple embodiments and modifications shown herein may be combined as possible.

[0131] <5. Addendum> An exemplary automatic driving method of the present invention is an automatic driving method for a work vehicle, which may be configured (first configuration) to perform the following: generate a plurality of driving paths for the work vehicle to drive automatically; set a turning start position in the driving path for the start of turning toward the next driving path; accept a prior reservation of the turning direction at the turning start position; and when the work vehicle, which is driving automatically along the driving path, reaches the turning start position, automatically turn the work vehicle in the prior reserved turning direction.

[0132] In the automated driving method of the first configuration described above, the pre-reservation may be configured to be available at at least one of the following times: when the work vehicle transitions to a mode of automated driving along the driving path, and while the work vehicle is automated driving along the driving path (second configuration).

[0133] The automatic driving method of the first or second configuration described above may be a configuration (third configuration) that, when the prior reservation has been accepted, automatically turns the work vehicle without stopping it at the turning start position.

[0134] The automated driving method of any of the first to third configurations described above may be configured to stop the work vehicle at the turning start position if no prior reservation has been made (fourth configuration).

[0135] The automated driving method of any of the first to fourth configurations described above may be configured to cause the work vehicle to notify the outside of the received turning direction when it receives the prior reservation (fifth configuration).

[0136] The automatic driving method according to any of the first to fifth configurations described above may be configured (sixth configuration) to set the turning direction at the turning start position not only for the one driving route that is currently subject to automatic driving, but also for other driving routes that will be subject to automatic driving in the next and subsequent times, upon receiving the advance reservation.

[0137] In the automatic driving method of the sixth configuration described above, the turning direction set for each of the driving routes by the prior reservation may be configured to be in the opposite direction each time the driving route changes (seventh configuration).

[0138] The automated driving method according to any of the first to fifth configurations described above may be configured (the eighth configuration) to set the turning direction at the turning start position only for the one driving route that is subject to automated driving at that time, upon receiving the advance reservation.

[0139] The automatic driving method of any of the above configurations 1 to 8 may be configured to accept a change operation to reverse the turning direction at the turning start position set by the acceptance of the prior reservation (configuration 9). [Explanation of Symbols]

[0140] 1. Work vehicles 2...Operating device 10. Control device 100...Automated driving system SP...Straight route (travel route) EP, EP1, EP2... Turn start position

Claims

1. A method for the automated driving of a work vehicle, To generate multiple travel routes for the aforementioned work vehicle to automatically travel, Setting a turning start position in the aforementioned travel path to initiate a turn toward the next aforementioned travel path, Accepting advance reservations for the turning direction at the aforementioned turning start position, When the work vehicle, which is automatically traveling along the aforementioned route, reaches the turning start position, the work vehicle is automatically turned in the pre-reserved turning direction. An automated driving method that performs this task.

2. The automatic driving method according to claim 1, wherein the advance reservation is made available at at least one of the following times: when the work vehicle transitions to a mode of automatic driving along the driving path, and while the work vehicle is automatically driving along the driving path.

3. The automatic driving method according to claim 1 or 2, wherein, if the aforementioned advance reservation has been accepted, the work vehicle is automatically turned without being stopped at the turning start position.

4. The automatic driving method according to claim 1 or 2, wherein if the aforementioned advance reservation has not been accepted, the work vehicle is stopped at the turning start position.

5. The automatic driving method according to claim 1 or 2, wherein upon receiving the aforementioned advance reservation, the work vehicle is instructed to notify the outside of the received turning direction.

6. The automatic driving method according to claim 1, wherein upon receiving the aforementioned advance reservation, the method sets the turning direction at the turning start position not only for the one driving route that is currently subject to automatic driving, but also for other driving routes that will be subject to automatic driving in the next and subsequent times.

7. The automatic driving method according to claim 6, wherein the turning direction set for each of the aforementioned driving routes by the aforementioned prior reservation is reversed each time the driving route changes.

8. The automatic driving method according to claim 1, wherein upon receiving the aforementioned advance reservation, the method sets the turning direction at the turning start position only for the one of the aforementioned driving routes that is subject to automatic driving at that time.

9. The automatic driving method according to any one of claims 6 to 8, wherein it is provided to accept a change operation to reverse the turning direction at the turning start position set by the acceptance of the prior reservation.

10. Work vehicles and An operating device is provided that enables settings related to the automatic driving of the aforementioned work vehicle, A control device that controls the automatic driving of the work vehicle in response to instructions from the operating device, Equipped with, The control device is Multiple travel routes are generated for the aforementioned work vehicle to travel automatically. A turning start position is set on the aforementioned travel path to initiate a turn toward the next aforementioned travel path. The operating device accepts advance reservations for the rotation direction at the rotation start position. An automated driving system that, when the work vehicle, which is automatically traveling along the aforementioned travel path, reaches the turning start position, automatically turns the work vehicle in the pre-reserved turning direction.

11. A program that causes a computer to execute an automated driving method for a work vehicle, The aforementioned computer, To generate multiple travel routes for the aforementioned work vehicle to automatically travel, Setting a turning start position in the aforementioned travel path to initiate a turn toward the next aforementioned travel path, Accepting advance reservations for the turning direction at the aforementioned turning start position, When the work vehicle, which is automatically traveling along the aforementioned route, reaches the turning start position, the work vehicle is automatically turned in the pre-reserved turning direction. A program that functions as a means to accomplish something.

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