Autonomous driving method, automatic driving system, and automatic driving program

Abstract

To provide an automatic travelling method, an automatic travelling system, and an automatic travelling program capable of starting automatic travelling even when part of a work vehicle is positioned outside a farm field.SOLUTION: A travelling processing part 111 causes a work vehicle 10 to automatically travel according to a target route R set in a farm field F. In the case where part of the work vehicle 10 is located outside the region of the farm field F, the travelling processing part 111 permits automatic travelling of the work vehicle 10 if a travelling direction of the work vehicle 10 is a direction that a range B1 of the part located outside the region in the work vehicle 10 does not increase.SELECTED DRAWING: Figure 4A

Description

[Technical field]

[0001] The present invention relates to an automatic driving method, an automatic driving system, and an automatic driving program for automatically driving a work vehicle. [Background technology]

[0002] In recent years, advances in automation technology for agricultural machinery have led to the introduction of work vehicles that perform work while traveling automatically within a field. In order to start automatic travel along a set travel route (target route) within a field, an operator must manually travel (operate) the work vehicle to the travel start position, which is time-consuming. Conventionally, there is known technology that allows a work vehicle to travel automatically from its current position to the travel start position (see, for example, Patent Document 1). With this technology, for example, in a headland area, it becomes possible to automatically travel the work vehicle to the travel start position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-135670 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional technology, for example, when a part of the work vehicle (such as a work machine) is located outside the field (protruding), the automatic driving cannot be started. For this reason, the operator must manually drive the work vehicle at least to a position where the entire body of the vehicle is within the field, which is still time-consuming.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving system, and an automatic driving program that are capable of starting automatic driving even when part of a work vehicle is located outside a field. [Means for solving the problem]

[0006] The automatic driving method of the present invention includes automatically driving a work vehicle according to a target route set in a field, and, when a part of the work vehicle is located outside the field area, permitting the work vehicle to automatically drive if the driving direction of the work vehicle is a direction that does not increase the range of the part of the work vehicle that is outside the field area.

[0007] The automated driving system according to the present invention includes a driving processing unit that causes a work vehicle to automatically drive along a target route set in a field. When a part of the work vehicle is located outside the field, the driving processing unit permits the work vehicle to automatically drive if the driving direction of the work vehicle is a direction that does not increase the range of the part of the work vehicle that is outside the field.

[0008] The automatic driving program of the present invention is an automatic driving program that causes one or more processors to automatically drive a work vehicle according to a target route set in a field, and when a part of the work vehicle is located outside the field area, permitting the work vehicle to automatically drive when the driving direction of the work vehicle is a direction in which the range of the part of the work vehicle that is outside the field area does not increase. Effect of the Invention

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving system, and an automatic driving program that are capable of starting automatic driving even when part of a work vehicle is located outside a field. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing a configuration of an automatic driving system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Diagram 3]FIG. 3 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. [Figure 4A] FIG. 4A is a diagram showing a specific example of a traveling method for a work vehicle according to an embodiment of the present invention. [Figure 4B] FIG. 4B is a diagram showing a specific example of a traveling method for the work vehicle according to the embodiment of the present invention. [Figure 4C] FIG. 4C is a diagram showing a specific example of a traveling method for a work vehicle according to an embodiment of the present invention. [Figure 4D] FIG. 4D is a diagram showing a specific example of a traveling method for a work vehicle according to an embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing an example of a range of a determination target of a work vehicle according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 9A] FIG. 9A is a diagram showing an example of a target route according to another embodiment of the present invention. [Figure 9B] FIG. 9B is a diagram showing an example of a target route according to another embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a replenishment process for a work vehicle according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a route generation screen displayed on the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0012] 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] In this embodiment, the working vehicle 10 is a tractor. In other embodiments, the working vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The working vehicle 10 is a so-called robot tractor that is configured to be able to automatically travel (autonomously travel) in a preregistered field. For example, an operator registers a field to be worked on, and sets a travel route (target route) for automatically traveling the working vehicle 10 through the field. The working vehicle 10 automatically travels through the field according to a target route set in advance based on position information of the current position of the working vehicle 10 calculated by the positioning device 16. The working vehicle 10 can also perform a predetermined task while automatically traveling through the field.

[0014] For example, the work vehicle 10 automatically travels along a target route R in a field F shown in FIG. 3. Specifically, the work vehicle 10 starts automatic travel from a travel start position S according to a travel route R1, and starts work when it reaches a work start position A1. The work vehicle 10 performs work while automatically traveling along a work route R2 from the work start position A1 to a work end position A2. When the work vehicle 10 reaches a work end position A2, it ends the work and automatically travels along a travel route R3 to a travel end position G. The target route R includes the travel route R1, the work route R2, and the travel route R3. The work route R2 includes a plurality of straight routes and a plurality of turning routes. The target route R is not limited to the route shown in FIG. 3, and is set appropriately according to the work content. In addition, the travel start position S and the travel end position G can be set to any position in the field F (such as an entrance or near a ridge).

[0015] Here, when the work vehicle 10 is made to travel automatically along the target route R, the operator manually drives the work vehicle 10 to the travel start position S or to the vicinity of the travel start position S. For example, when the operator manually drives the work vehicle 10 to the travel start position S, the work vehicle 10 enters a state in which it is capable of traveling automatically. When the work vehicle 10 enters a state in which it is capable of traveling automatically, the operator can issue an instruction to the work vehicle 10 to start traveling automatically (travel start instruction) via the operation terminal 20. When the operator issues the travel start instruction, the work vehicle 10 starts traveling automatically along the target route R.

[0016] The work vehicle 10 can start automatic travel as described above. However, in the conventional technology, for example, when a part of the work vehicle 10 (such as the work implement 14) is located outside the area of ​​the field F (protruding out), automatic travel cannot be started. For this reason, the operator needs to manually drive at least the entire body of the work vehicle 10 to a position within the field F, which is still troublesome. In addition, in the conventional technology, the travel start position S cannot be set to a location where a part of the work vehicle 10 is located outside the area of ​​the field F. For this reason, since the travel start position S needs to be set at a location away from the boundary of the field F, the operator needs to manually drive the work vehicle 10 to that location, which is inefficient. In contrast, the automatic travel system 1 according to this embodiment can start automatic travel even when a part of the work vehicle 10 is located outside the area of ​​the field F, as shown below.

[0017] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning device 16, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the positioning device 16, etc. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0018] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly and for executing data communication in accordance with a predetermined communication protocol with an external device such as the operation terminal 20 via the communication network N1. The work vehicle 10 is capable of wireless communication with the operation terminal 20 via the communication unit 15.

[0019] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. The storage unit 12 stores a control program such as an automatic driving program for causing the vehicle control device 11 to execute an automatic driving process. For example, the automatic driving program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data of a target route R generated in the operation terminal 20.

[0020] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type that includes the front wheels 132 and the rear wheels 133, but may be a crawler type that includes crawlers provided on the left and right sides of the work vehicle 10.

[0021] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source together with or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided in the work vehicle 10. The battery is charged by the power supplied from the generator. The vehicle control device 11 and electrical components such as the positioning device 16 provided in the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0022] The driving force of the engine 131 is transmitted to front wheels 132 via a transmission 134 and a front axle 135, and to rear wheels 133 via a transmission 134 and a rear axle 136. The driving force of the engine 131 is also transmitted to the work equipment 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs a traveling operation in accordance with commands from the vehicle control device 11.

[0023] The working implement 14 is, for example, a tiller, a grass cutter, a plow, a fertilizer applicator, a seed sower, a spreader, or the like, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various types of work using each of the working implements 14. Fig. 2 shows a case where the working implement 14 is a tiller.

[0024] The working implement 14 may be supported by a lifting mechanism (not shown) in the work vehicle 10 so that it can be raised and lowered. The vehicle control device 11 can raise and lower the working implement 14 by controlling the lifting mechanism. For example, the vehicle control device 11 lowers the working implement 14 when the work vehicle 10 travels straight ahead in the forward direction on the work path R2, and raises the working implement 14 when the work vehicle 10 travels in a turn or travels on the travel paths R1 and R3. In addition, when the vehicle control device 11 acquires a work stop instruction, it outputs a work stop command to the working implement 14. For example, when the operator performs a stop instruction operation on the operation terminal 20, the vehicle control device 11 acquires the stop instruction from the operation terminal 20. When the vehicle control device 11 acquires a work stop instruction, it stops the drive of the PTO shaft to stop the work of the working implement 14.

[0025] The handle 137 is an operating section that is operated by the operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed. When the operator performs a teaching operation to register a field F, the operator operates the handle 137 to manually travel the work vehicle 10. Also, when moving the work vehicle 10 to a travel start position S, the operator operates the handle 137 to manually travel the work vehicle 10.

[0026] In addition to the handlebars 137, the traveling device 13 is equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and the rear wheels 133 using an electromagnetic brake.

[0027] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in FIG. 2, the positioning device 16 is provided on the upper part of a cabin 138 in which an operator sits. The installation location of the positioning device 16 is not limited to the cabin 138. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be disposed in different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0028] The positioning control unit 161 is a computer system including one or more processors and storage memories such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. The program may be downloaded from a server (not shown) to the positioning device 16 via the communication network N1 and stored in the storage unit 162.

[0029] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 via a wired or wireless manner, and for performing data communication in accordance with a predetermined communication protocol with an external device such as a base station (not shown) via the communication network N1.

[0030] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0031] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signal received by the positioning antenna 164 from a satellite. For example, when the work vehicle 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GPS positioning method (RTK method)) that calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs automatic travel using positioning information by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position shifted from the positioning position. For example, in the example shown in FIG. 4A, the current position P1 of the work vehicle 10 is the same as the position of the positioning antenna 164.

[0032] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (work area) for various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing, with the CPU, various control programs that are stored in advance in the ROM or the storage unit 12.

[0033] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. In addition, the vehicle control device 11 executes an automatic driving process for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a target route R that is set in advance.

[0034] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111. The vehicle control device 11 functions as the various processing units by executing various processes according to the automatic driving program with the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing a plurality of processors to function as the processing units.

[0035] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, the driving processing unit 111 makes the work vehicle 10 automatically drive according to the target route R set in the field F. The driving processing unit 111 also judges whether the work vehicle 10 is in a state in which it is possible to start automatic driving. For example, the driving processing unit 111 judges whether the current position P1 (see FIG. 4A) of the work vehicle 10 satisfies a predetermined condition (driving start condition) with respect to the driving start position S set in the field F. The driving start condition includes "the distance from the driving start position S to the work vehicle 10 is within 5 m in the front and rear directions," "the distance from the target route R to the work vehicle 10 is within 1 m in the left and right directions," "the direction of the work vehicle 10 is within 35 degrees from the direction of the target route R," "the remaining distance to the turning position of the straight route is 10 m or more," and the like. When all of these driving start conditions are satisfied, the driving processing unit 111 judges that the work vehicle 10 is in a state in which it is possible to automatically drive.

[0036] The travel processing unit 111 also determines whether or not a part of the work vehicle 10 is located outside the area of ​​the field F. FIG. 4A shows a state in which the rear part of the body of the work vehicle 10 is located outside the area of ​​the field F. As shown in FIG. 5, for example, the travel processing unit 111 determines whether the entire work vehicle 10 is within the area of ​​the field F or whether a part of the work vehicle 10 protrudes outside the area of ​​the field F based on position information (or image information) of a virtual area C0 set around the work vehicle 10 in the map data (map image) and position information (or image information) of the field F. Note that FIG. 5 shows a first virtual area C1 (area framed by a dotted line) that is located outside the area of ​​the field F within the virtual area C0 (area framed by a solid line).

[0037] The driving processing unit 111 decides whether or not to allow the work vehicle 10 to drive automatically based on the result of the judgment process of whether or not the driving start condition is satisfied and the result of the judgment process of whether or not a part of the work vehicle 10 is located outside the area of ​​the field F.

[0038] For example, the driving processing unit 111 permits the automatic driving of the work vehicle 10 when the driving start condition is satisfied and the entire work vehicle 10 is located within the area of ​​the field F. In this case, when the driving processing unit 111 receives the driving start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic driving.

[0039] Also, for example, when the travel start condition is satisfied and a part of the work vehicle 10 is located outside the area of ​​the field F, the travel processing unit 111 further judges whether the travel direction of the work vehicle 10 is a direction in which the range B1 of the part of the work vehicle 10 located outside the area (the rear part in FIG. 4A) does not increase. In the example shown in FIG. 4A and FIG. 4B, the direction (travel direction) in which the work vehicle 10 moves from the travel start position S (see FIG. 4A) or the vehicle orientation is a direction in which the range B1 decreases. In this case, the travel processing unit 111 judges that the range B1 is a direction in which it does not increase, and permits the automatic travel of the work vehicle 10. In this way, when a part of the work vehicle 10 is located outside the area of ​​the field F, the travel processing unit 111 permits the automatic travel of the work vehicle 10 if the travel direction of the work vehicle 10 is a direction in which the range B1 does not increase. Furthermore, when a part of the work vehicle 10 is located outside the area of ​​the field F, the driving processing unit 111 permits the automatic driving of the work vehicle 10 if the driving direction of the movement path R1 of the work vehicle 10 is a direction in which the range B1 does not increase. Furthermore, the driving processing unit 111 permits the automatic driving of the work vehicle 10 if the driving direction of the work vehicle 10 is a direction in which the area of ​​a first virtual area C1 (see FIG. 5) located outside the area of ​​the field F of the virtual area C0 does not increase. For example, the driving processing unit 111 permits the automatic driving of the work vehicle 10 if the driving direction is a direction in which the area of ​​the first virtual area C1 decreases.

[0040] On the other hand, when a part of the work vehicle 10 is located outside the area of ​​the field F, the driving processing unit 111 prohibits the automatic driving of the work vehicle 10 if the driving direction of the work vehicle 10 is a direction in which the range B1 increases. Also, when a part of the work vehicle 10 is located outside the area of ​​the field F, the driving processing unit 111 prohibits the automatic driving of the work vehicle 10 if the driving direction of the movement path R1 of the work vehicle 10 is a direction in which the range B1 increases. Also, the driving processing unit 111 prohibits the automatic driving of the work vehicle 10 if the driving direction of the work vehicle 10 is a direction in which the area of ​​a first virtual area C1 (see FIG. 5), which is located outside the area of ​​the field F out of the virtual area C0, increases.

[0041] Also, for example, the driving processing unit 111 prohibits the automatic driving of the work vehicle 10 when the driving start condition is not satisfied or when the entire work vehicle 10 is located outside the area of ​​the field F. When the driving processing unit 111 prohibits the automatic driving of the work vehicle 10, it may notify the operator of predetermined information (error information, guidance information).

[0042] When the driving processing unit 111 permits the work vehicle 10 to drive automatically, it permits the receipt of the driving start instruction from the operation terminal 20. In this case, the operation terminal 20 displays an input button (start button) for the driving start instruction on the operation screen D2 (see FIG. 7) and receives the driving start instruction from the operator. When the driving processing unit 111 acquires the driving start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 from the driving start position S.

[0043] When the work vehicle 10 starts automatic traveling, it automatically travels from the travel start position S along the travel route R1 (see Figs. 4A to 4C), and when it reaches the work start position A1, it lowers the work implement 14 and starts work (see Fig. 4D), and performs work while automatically traveling along the work route R2. Note that the work vehicle 10 may lower the work implement 14 when the position of the positioning antenna 164 matches the work start position A1, or may lower the work implement 14 when the position (mounting position, center position, etc.) of the work implement 14 matches the work start position A1. That is, the vehicle control device 11 controls the elevation of the work implement 14 based on the position of the positioning antenna 164 or the position of the work implement 14 as a reference.

[0044] In this way, even if part of the work vehicle 10 is located outside the area of ​​the field F, the driving processing unit 111 allows automatic driving if the driving direction of the work vehicle 10 satisfies specified conditions, and causes the work vehicle 10 to automatically drive according to the target route R (see Figure 3) set in the field F.

[0045] Here, the work vehicle 10 may have a function of stopping the automatic traveling when a part of the work vehicle 10 flies out of the area of ​​the field F during automatic traveling. With this function, when the work vehicle 10 deviates from the target route R and flies out of the area of ​​the field F due to, for example, the roughness of the soil of the field F or a decrease in positioning accuracy, it becomes possible to stop the work vehicle 10 and ensure safety. For example, the travel processing unit 111 may detect the work vehicle 10 flying out of the field based on the positional relationship between the virtual area C0 (see FIG. 5) and the field F, or may detect the work vehicle 10 flying out of the field based on the detection result of a detection unit (sensor, camera, etc.) mounted on the work vehicle 10.

[0046] If the work vehicle 10 has the field exit function, the driving processing unit 111 may disable the function when the work vehicle 10 starts automatic driving from the driving start position S. For example, as shown in FIG. 4A, when the rear part of the work vehicle 10 is located outside the field F, the driving processing unit 111 disables the function. The driving processing unit 111 also disables the function until the work vehicle 10 starts automatic driving and the entire work vehicle 10 falls within the field F. Then, when the entire work vehicle 10 falls within the field F (see FIG. 4C), the driving processing unit 111 enables the function.

[0047] In this way, the driving processing unit 111 disables the function when automatic driving of the work vehicle 10 is permitted when part of the work vehicle 10 is located outside the area of ​​the field F, and enables the function when the work vehicle 10 starts automatic driving and the entire work vehicle 10 is located within the area of ​​the field F. This makes it possible to avoid a situation in which the work vehicle 10 is stopped by the function immediately after automatic driving begins.

[0048] The driving processing unit 111 may also control the travel speed (vehicle speed) when a part of the work vehicle 10 is located outside the area of ​​the field F. Specifically, the driving processing unit 111 sets the first travel speed when the work vehicle 10 starts automatic travel when a part of the work vehicle 10 is located outside the area of ​​the field F, and sets the second travel speed faster than the first travel speed when the entire work vehicle 10 is located within the area of ​​the field F. For example, when the travel speed when traveling straight is set to "8 km / h" in the operation terminal 20, the driving processing unit 111 sets the travel speed when the work vehicle 10 automatically travels with a part of the work vehicle 10 protruding outside the area of ​​the field F to "5 km / h" (an example of the first travel speed), and changes the travel speed to "8 km / h" (an example of the second travel speed) when the entire work vehicle 10 is within the area of ​​the field F. In this way, the travel stability can be improved by setting the travel speed to a low speed when a part of the work vehicle 10 is located outside the area of ​​the field F.

[0049] The driving processing unit 111 executes well-known processes in addition to the above-mentioned processes. For example, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when it receives a driving stop command from the operation terminal 20. For example, when the operator presses a pause button (not shown) on the operation screen D2 (see FIG. 7) of the operation terminal 20, the operation terminal 20 outputs a driving stop command to the work vehicle 10.

[0050] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when the work vehicle 10 detects an obstacle. For example, when an obstacle detection device (not shown) mounted on the work vehicle 10 detects an obstacle within a range of 3 m to 8 m ahead of the work vehicle 10, the driving processing unit 111 decelerates the driving of the work vehicle 10. Furthermore, when the obstacle detection device detects an obstacle within a range of up to 3 m ahead of the work vehicle 10, the driving processing unit 111 stops the work vehicle 10.

[0051] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0052] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 via a wired or wireless connection, and for performing data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0053] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. An operator can operate the operation unit on the operation screen displayed on the display unit to register various information (such as work vehicle information, field information, and work information, which will be described later). For example, the operator operates the operation unit to register the field F to be worked on.

[0054] Also, the operator can operate the operation unit to give instructions to start traveling, stop traveling, etc. to the work vehicle 10. Furthermore, the operator can grasp the traveling state of the work vehicle 10, which automatically travels through the field F according to the target route R, from the traveling trajectory displayed on the operation terminal 20, at a location away from the work vehicle 10.

[0055] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various information. A control program for causing the operation control unit 21 to execute a predetermined process is stored in the storage unit 22. For example, the control program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The control program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0056] Further, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route R for the work vehicle 10, and issuing automatic driving instructions to the work vehicle 10.

[0057] The memory unit 22 also stores data such as work vehicle information, which is information related to the work vehicle 10, and target route information, which is information related to the target route R. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10.

[0058] Furthermore, the memory unit 22 may store the work vehicle information regarding one work vehicle 10, or may store the work vehicle information regarding multiple work vehicles 10. For example, if a specific operator owns multiple work vehicles 10, the work vehicle information regarding each work vehicle 10 is stored in the memory unit 22.

[0059] The target route information includes information such as route name, field name, address, field area, and work time for each target route R. The route name is the route name of the target route R generated in the operation terminal 20. The field name is the name of the field F that is the work target for which the target route R is set. The address is the address of the field F, and the field area is the area of ​​the field F. The work time is the time required for the work vehicle 10 to work in the field F.

[0060] Furthermore, the storage unit 22 may store the target route information for one target route R, or may store the target route information for multiple target routes R. For example, when a specific operator generates multiple target routes R for one or multiple fields F owned by the operator, the target route information for each target route R is stored in the storage unit 22. Note that, for one field F, one target route R, or multiple target routes R may be set.

[0061] In another embodiment, some or all of the information such as the work vehicle information and the target route information may be stored in a server accessible from the operation terminal 20. An operator may perform an operation to register the work vehicle information and the target route information in the server (e.g., a personal computer, a cloud server, etc.).

[0062] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory for various processes executed by the CPU. The operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or the storage unit 22 by the CPU.

[0063] As shown in Fig. 1, the operation control unit 21 includes various processing units such as a setting processing unit 211 and an output processing unit 212. The operation control unit 21 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0064] The setting processing unit 211 sets information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field F (hereinafter referred to as field information), and information about how the work is to be specifically performed (hereinafter referred to as work information). The setting processing unit 211 accepts setting operations by the operator on a setting screen D1 shown in Fig. 6, for example, and registers each piece of setting information.

[0065] Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the positioning antenna 164 is attached to the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the driving speed and engine speed of the work vehicle 10 while working, and the driving speed and engine speed of the work vehicle 10 while turning, by having the operator perform an operation to register the information on the operation terminal 20.

[0066] In addition, the setting processing unit 211 sets information such as the position and shape of the field F, the starting position S where travel begins and the ending position G where travel ends, the work direction, etc., by performing registration operations on the operation terminal 20.

[0067] Information on the position and shape of the field F can be automatically acquired, for example, by an operator getting on board the work vehicle 10 and driving it around the perimeter of the field F, and recording the transition of the position information of the positioning antenna 164 at that time. The position and shape of the field F can also be acquired based on a polygon obtained by the operator operating the operation terminal 20 while a map is displayed on the map and specifying multiple points on the map. The area specified by the acquired position and shape of the field F is the area in which the work vehicle 10 can travel (travel area).

[0068] The setting processing unit 211 is configured to be able to set, as work information, the presence or absence of cooperative work between a work vehicle 10 (unmanned tractor) and a manned work vehicle 10, the number of skips, which is the number of work paths that the work vehicle 10 skips when turning on the headland, the width of the headland, and the width of the non-cultivated land.

[0069] For example, the setting processing unit 211 sets a work area for actually performing work in a registered field F. For example, when the operator selects "Work area registration" on the setting screen D1 (see FIG. 6) and selects the field F in which the work area is to be registered, the setting processing unit 211 displays a registration screen (map screen) for registering the travel start position S and the travel end position G. On the registration screen, the operator registers the travel start position S and the travel end position G at any position within the field F. For example, the operator registers the travel start position S and the travel end position G near the entrance or exit of the field F or a ridge (see FIG. 3). In this embodiment, the operator can register the travel start position S at a position where, for example, a part of the work vehicle 10 extends outside the area of ​​the field F (such as near the boundary of the field F).

[0070] Furthermore, the setting processing unit 211 generates a target route R for automatically driving the work vehicle 10 in the field F based on each of the setting information. For example, when the operator selects "Route Creation" on the setting screen D1 (see FIG. 6), the setting processing unit 211 displays a registration screen (not shown) for generating a route. On the registration screen, the operator registers each piece of information such as the field F, the work implement 14, the turning method, the headland, the vehicle speed, and the engine revolutions, and then issues a route generation instruction. When the setting processing unit 211 acquires the route generation instruction, it generates a target route R based on the travel start position S, the travel end position G, and each of the information.

[0071] For example, as shown in FIG. 3, the setting processing unit 211 generates a target route R including a travel start position S, a movement route R1, a work start position A1, a work route R2, a work end position A2, a movement route R3, and a travel end position G. The setting processing unit 211 registers the generated target route R in association with the field F. In addition, in this embodiment, the setting processing unit 211 generates a target route R in which the travel direction of the work vehicle 10 is a direction in which the range B1 (see FIG. 4A, etc.) of the part located outside the area does not increase when, for example, a part of the work vehicle 10 located at the travel start position S is located outside the area of ​​the field F. In addition, the setting processing unit 211 generates a movement route R1 from the travel start position S to the work start position A1, in which the range B1 of the part located outside the area of ​​the work vehicle 10 does not increase. For example, when a part of the work vehicle 10 located at the travel start position S is outside the area of ​​the field F, the setting processing unit 211 generates a target route R (see FIG. 3) in which the travel direction of the work vehicle 10 is a direction in which the range B1 of the part located outside the area is reduced. Furthermore, the setting processing unit 211 generates a movement route R1 in which the range B1 of the part of the work vehicle 10 located outside the area is reduced.

[0072] The output processing unit 212 outputs route data of the target route R to the work vehicle 10. For example, when the operator selects a field F to be worked on and a work route (target route R) and performs a work start operation, the route data of the target route R corresponding to the field F is output to the work vehicle 10.

[0073] When the work vehicle 10 receives the route data of the target route R generated by the operation terminal 20 , the work vehicle 10 stores the route data in the storage unit 12 .

[0074] As described above, the work vehicle 10 starts automatic driving in response to a driving start command from the operator when the driving start condition is met and the entire work vehicle 10 is located within the area of ​​the field F. Furthermore, when the driving start condition is met and part of the work vehicle 10 is located outside the area of ​​the field F, the work vehicle 10 starts automatic driving in response to a driving start command from the operator if the driving direction of the work vehicle 10 is a direction in which range B1 (see FIG. 4A, etc.) does not increase.

[0075] While the work vehicle 10 is traveling automatically, the operator can grasp the traveling conditions in the field F on the operation terminal 20.

[0076] The operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server includes the above-mentioned processing units and executes each process.

[0077] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0078] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. One or more steps included in the automatic driving process described here may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the vehicle control device 11 executes each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0079] First, in step S1, the vehicle control device 11 of the work vehicle 10 starts manual traveling of the work vehicle 10 in response to driving operations by the operator. For example, the operator moves the work vehicle 10 from a farm road into a farm field F (see FIG. 4A).

[0080] Next, in step S2, the vehicle control device 11 judges whether the work vehicle 10 satisfies the travel start conditions. For example, the vehicle control device 11 judges whether the travel start conditions are satisfied at the position where the operator stops the work vehicle 10 by manually traveling (see FIG. 4A), including "the distance from the travel start position S to the work vehicle 10 is within 5 m in the front and rear directions," "the distance from the target route R to the work vehicle 10 is within 1 m in the left and right directions," "the direction of the work vehicle 10 is within 35 degrees from the direction of the target route R," and "the remaining distance to the turning position of the straight route is 10 m or more." If the vehicle control device 11 judges that the work vehicle 10 satisfies each of the travel start conditions (S2: Yes), it shifts the process to step S3. On the other hand, if the vehicle control device 11 judges that the work vehicle 10 does not satisfy any of the travel start conditions (S2: No), it shifts the process to step S21. In step S21, the vehicle control device 11 notifies the operator of information (error information) indicating that the travel start conditions are not satisfied. Based on the error information, the operator continues manual traveling until the work vehicle 10 reaches a position where the traveling start condition is satisfied (S2: No, S21).

[0081] In step S3, the vehicle control device 11 determines whether or not a part of the work vehicle 10 is located outside the area of ​​the field F. For example, the vehicle control device 11 determines whether or not the virtual area C0 (virtual image) of the work vehicle 10 is within the field F in the map image of the field F (see FIG. 5). If the vehicle control device 11 determines that a part of the work vehicle 10 is located outside the area of ​​the field F (S3: Yes), it transitions the processing to step S4. On the other hand, if the vehicle control device 11 determines that the entire work vehicle 10 is located within the area of ​​the field F (S3: No), it transitions the processing to step S5.

[0082] In step S4, the vehicle control device 11 determines whether the traveling direction of the work vehicle 10 is a direction in which the range B1 of the portion of the work vehicle 10 located outside the area (the rear portion in FIG. 4A) decreases. For example, in the example shown in FIGS. 4A and 4B, the vehicle control device 11 determines that the direction (traveling direction) in which the work vehicle 10 moves from the travel start position S (see FIG. 4A) is a direction in which the range B1 decreases. When the vehicle control device 11 determines that the traveling direction of the work vehicle 10 is a direction in which the range B1 decreases (S4: Yes), it shifts the process to step S5. On the other hand, when the vehicle control device 11 determines that the traveling direction of the work vehicle 10 is a direction in which the range B1 increases (S4: No), it shifts the process to step S41.

[0083] In step S41, the vehicle control device 11 prohibits the automatic driving of the work vehicle 10. After step S41, the vehicle control device 11 transitions the process to step S2. When returning to step S2, the operator continues manual driving until the driving direction of the work vehicle 10 becomes a direction in which range B1 decreases (S4: No, S41). Note that when the vehicle control device 11 prohibits the automatic driving of the work vehicle 10, it may notify the operator of error information.

[0084] In step S5, the vehicle control device 11 permits the automatic traveling of the work vehicle 10. Specifically, the vehicle control device 11 permits the receipt of the traveling start instruction from the operation terminal 20. The operation terminal 20 displays an input button (start button) for the traveling start instruction on the operation screen D2 (see FIG. 7) and receives the traveling start instruction from the operator.

[0085] In addition, when the driving start condition is not satisfied (S2: No) and when automatic driving of the work vehicle 10 is prohibited (S41), the vehicle control device 11 may be configured not to display the start button on the operation screen D2, or may be configured to display error information.

[0086] In step S6, the vehicle control device 11 determines whether or not the vehicle start instruction has been acquired from the operation terminal 20. When the vehicle control device 11 acquires the vehicle start instruction (S6: Yes), the vehicle control device 11 shifts the process to step S7. The vehicle control device 11 waits until the vehicle start instruction is acquired (S6: No).

[0087] In step S7, the vehicle control device 11 starts the automatic traveling of the work vehicle 10. In the example shown in Fig. 4A, the vehicle control device 11 starts the automatic traveling of the work vehicle 10 according to the travel route R1 from the travel start position S. For example, the work vehicle 10 automatically travels along the travel route R1 with the work implement 14 raised.

[0088] Next, in step S8, the vehicle control device 11 determines whether or not the work vehicle 10 has reached the work start position A1. When the work vehicle 10 has reached the work start position A1 (see FIG. 4D) (S8: Yes), the vehicle control device 11 transitions the process to step S9. The vehicle control device 11 continues the automatic driving until the work vehicle 10 reaches the work start position A1 (S8: No).

[0089] In step S9, the vehicle control device 11 causes the work vehicle 10 to start work. For example, the vehicle control device 11 causes the work vehicle 10 to start work by lowering the work implement 14. The work vehicle 10 performs work while automatically traveling along the work route R2 (see FIG. 3).

[0090] Next, in step S10, the vehicle control device 11 determines whether or not the work vehicle 10 has reached the travel end position G. For example, when the work vehicle 10 reaches the work end position A2, the vehicle control device 11 raises the work implement 14 to end the work, and causes the work vehicle 10 to automatically travel to the travel end position G along the travel route R3 (see FIG. 3). When the work vehicle 10 reaches the travel end position G (S10: Yes), the vehicle control device 11 ends the processing. The vehicle control device 11 continues the automatic travel until the work vehicle 10 reaches the travel end position G (S10: No). The vehicle control device 11 executes the automatic travel processing in the above manner.

[0091] [Other embodiments] As another embodiment of the present invention, the vehicle control device 11 may permit automatic travel of the work vehicle 10 when a part of the side of the work vehicle 10 is located outside the field F, as shown in FIG. 9A, and the direction in which the work vehicle 10 moves from the travel start position S (travel direction) or the vehicle body orientation is a direction in which the range B1 decreases. In the example shown in FIG. 9A, the travel route R1 connecting the travel start position S and the work start position A1 is a route that extends diagonally with respect to the work route R2. In this case, the work vehicle 10 is in a state in which it straddles the boundary of the field F parallel or diagonally at the travel start position S. In this way, even when the side of the work vehicle 10 is located outside the field F, the vehicle control device 11 may permit automatic travel from the travel start position S when the travel direction or the vehicle body orientation is a direction in which the range B1 decreases. According to the travel route R1 shown in FIG. 9A, the work vehicle 10 can arrive at the work start position A1 from the travel start position S via the shortest route.

[0092] In another embodiment, the vehicle control device 11 may permit the automatic travel of the work vehicle 10 when a part of the side of the work vehicle 10 is located outside the area of ​​the field F as shown in FIG. 9B and the travel direction is a direction in which the range B1 of the part located outside the area of ​​the work vehicle 10 does not change. In the example shown in FIG. 9B, a part of the travel route R1 connecting the travel start position S and the work start position A1 is a route that extends parallel to the boundary of the field F. In this case, the work vehicle 10 will travel in a state where the range B1 does not change when starting automatic travel and traveling on the travel route R1. Even in this case, the vehicle control device 11 may permit automatic travel from the travel start position S. According to the travel route R1 shown in FIG. 9B, the work vehicle 10 can move to the work start position A1 without trampling the work area in the field F. This is particularly effective when ridges are formed in the field F, such as for field crops.

[0093] 9B, when the work vehicle 10 turns, the area of ​​the portion of the range B1 where the work implement 14 protrudes may increase. That is, the range B1 may increase when the work vehicle 10 turns on the travel route R1. In this case, the vehicle control device 11 may add at least one of the following first, second, and third configuration examples.

[0094] As a first configuration example, the vehicle control device 11 excludes the range (area) of the work machine 14 from the range B1. In this case, the vehicle control device 11 permits the automatic traveling of the work vehicle 10 when the traveling direction of the work vehicle 10 is a direction in which the range B1 excluding the work machine 14 does not change or decreases.

[0095] As a second configuration example, the vehicle control device 11 provides a predetermined margin in the range B1. For example, the vehicle control device 11 sets a judgment range having an area larger than that of the range B1. In this case, the vehicle control device 11 permits the automatic travel of the work vehicle 10 when the range B1 does not exceed the judgment range. In other words, the vehicle control device 11 permits the automatic travel of the work vehicle 10 when the travel direction of the work vehicle 10 is a direction in which the judgment range does not change or decreases. The margin may be variable by the operator on the setting screen of the operation terminal 20. The margin may also be automatically set according to the travel start position S and the travel route R1.

[0096] As a third configuration example, the operation control unit 21 sets the travel start position S to a position where the range B1 does not increase when the work vehicle 10 turns on the travel route R1. This makes it possible to prevent the range B1 from increasing when the work vehicle 10 travels (turns) on the travel route R1.

[0097] In this way, the vehicle control device 11 may be configured to permit automatic driving of the work vehicle 10 when the driving direction of the work vehicle 10 is a direction in which the range B1 of the part of the work vehicle 10 located outside the area of ​​the field F decreases or does not change, and to prohibit automatic driving of the work vehicle 10 when the driving direction is a direction in which the range B1 increases. Note that, as shown in Fig. 9A, the operation control unit 21 may generate a movement route R1 in the field F from the driving start position S in which the range B1 of the part of the work vehicle 10 located outside the area decreases.

[0098] In the above embodiment, the vehicle control device 11 is configured to determine whether to permit or prohibit automatic driving when the work vehicle 10 starts automatic driving from the driving start position S, but in another embodiment, the vehicle control device 11 may determine whether to permit or prohibit automatic driving while the work vehicle 10 is working on the work route R2. For example, as shown in FIG. 10, the work vehicle 10 may move to a retreat area f1 while working on the work route R2. The retreat area f1 is an area where the work vehicle 10 temporarily retreats during work to supply the work vehicle 10 with supplies (fuel, seedlings, fertilizer, spray material, etc.) or to store the harvested crops harvested by the work vehicle 10 in a container.

[0099] For example, when the vehicle control device 11 acquires a replenishment instruction at the work interruption position A3, it temporarily suspends the work and automatically travels to the evacuation area f1 along the travel route R4. The work vehicle 10 stops with a part of the vehicle body protruding into the evacuation area f1 outside the area of ​​the field F, and the replenishment process is performed by the operator. When the replenishment process is completed, the vehicle control device 11 determines whether or not to permit automatic travel to the work interruption position A3.

[0100] Here, the vehicle control device 11 permits automatic driving of the work vehicle 10 when a part (front part) of the work vehicle 10 is located outside the area of ​​the field F and the driving direction (reverse direction) of the work vehicle 10 is a direction in which the range B1 of the part of the work vehicle 10 located outside the area does not increase (for example, a direction in which it decreases). In the example shown in FIG. 10, the vehicle control device 11 permits automatic driving from the evacuation area f1 to the work interruption position A3. This allows the work vehicle 10 to return to the work interruption position A3 by automatic driving without relying on manual driving by the operator. This eliminates the need for the operator to enter the field F.

[0101] Even in this case, the vehicle control device 11 disables the field jumping out function until the entire work vehicle 10 is within the area of ​​the field F, and enables the field jumping out function when the entire work vehicle 10 is within the area of ​​the field F. Also, the vehicle control device 11 sets the traveling speed to a low speed until the entire work vehicle 10 is within the area of ​​the field F, and increases the traveling speed to the set speed when the entire work vehicle 10 is within the area of ​​the field F.

[0102] As another embodiment of the present invention, the operation control unit 21 of the operation terminal 20 may display the movement route R1 and the work route R2 in different modes (such as the line type and color of the route) on the operation terminal 20. For example, on the operation screen D2 shown in Fig. 11, the operation control unit 21 displays the movement route R1 in a first mode (dotted line) and the work route R2 in a second mode (solid line). The operation control unit 21 may display the movement route R1 in red and the work route R2 in blue.

[0103] As another embodiment of the present invention, the operation control unit 21 may display a frame image corresponding to the virtual area C0 (see FIG. 5) and a frame image corresponding to the first virtual area C1 (see FIG. 5) on the operation screen D2, as shown in FIG. 11. The operation control unit 21 may also display each image in a different display mode. The operation control unit 21 may also delete the frame image when the entire body of the work vehicle 10 falls within the area of ​​the field F.

[0104] As another embodiment of the present invention, while the work vehicle 10 is traveling automatically with a part of the vehicle body located outside the area of ​​the field F, the vehicle control device 11 and the operation control unit 21 may each output a predetermined sound (buzzer sound, voice guidance, etc.) from the work vehicle 10 and the operation terminal 20. This can alert the operator and those in the vicinity.

[0105] In another embodiment of the present invention, the operation control unit 21 may be configured to be able to select between a first generation mode that permits the work vehicle 10 to start automatic traveling in a state where a part of the work vehicle 10 protrudes outside the area of ​​the field F and a second generation mode that prohibits the work vehicle 10 from starting automatic traveling in a state where a part of the work vehicle 10 protrudes outside the area of ​​the field F, as shown in a route generation screen D3 in FIG. 12. When the operator selects the first generation mode ("Allow" in FIG. 12), the operation control unit 21 accepts an operation from the operator to set the travel start position S at an arbitrary position in the field F. That is, the operator can set the travel start position S at a desired position in the field F, for example, near an entrance or a ridge. In this case, the operation control unit 21 generates the target route R based on the travel start position S set near the entrance or a ridge, and therefore generates a target route R (see FIG. 3) in a state where, for example, a part of the work vehicle 10 protrudes outside the area of ​​the field F.

[0106] In contrast, if the operator selects the second generation mode ("Do not allow" in FIG. 12), the operation control unit 21 accepts an operation from the operator to set the travel start position S to a position within a predetermined range within the field F. In other words, the operator is able to set the travel start position S within a predetermined range within the field F, and cannot set the travel start position S to a position where part of the work vehicle 10 extends outside the area of ​​the field F. In this case, the operation control unit 21 generates the target route R based on the travel start position S set within the predetermined range, and therefore generates a target route R in which, for example, the entire work vehicle 10 fits within the area of ​​the field F.

[0107] As another embodiment of the present invention, the vehicle control device 11 may determine whether or not to permit automatic traveling based on an arbitrary position of the work vehicle 10, regardless of the traveling start position S. For example, when the work vehicle 10 is stopped at an arbitrary position with a part of the vehicle body protruding outside the area of ​​the field F, the automatic traveling of the work vehicle 10 may be permitted if the moving direction (traveling direction) from that position (current position) is a direction in which the range B1 of the part of the work vehicle 10 located outside the area does not increase. According to this configuration, when the operator stops the work vehicle 10 at an arbitrary position in the field with a part of the vehicle body protruding outside the area of ​​the field F, it becomes possible to start automatic traveling from that position. For example, when the operator moves the work vehicle 10 from a farm road to the field F (manual traveling) and stops the work vehicle 10 at the point when a part of the work vehicle 10 enters the area of ​​the field F, it becomes possible to start automatic traveling from that position. The vehicle control device 11 may permit automatic traveling when the work vehicle 10 starts to enter the area of ​​the field F and position information becomes available (positioning is possible).

[0108] In another embodiment of the present invention, the vehicle control device 11 may be configured to stop the automatic driving when the work vehicle 10 continues the automatic driving for a predetermined time or more with a part of the body located outside the field F. The operation control unit 21 may also generate a target route R on which the work vehicle 10 does not continue the automatic driving for a predetermined time or more with a part of the body located outside the field F. This can prevent the work vehicle 10 from automatically driving for a long time with a part of the body protruding outside the field F, thereby improving safety.

[0109] As described above, the automatic driving system 1 of this embodiment automatically drives the work vehicle 10 according to the target route R set in the field F, and when part of the work vehicle 10 is located outside the area of ​​the field F, permits the work vehicle 10 to automatically drive if the driving direction of the work vehicle 10 is a direction in which the range B1 of the part of the work vehicle 10 located outside the area does not increase.

[0110] According to the above configuration, it is possible to start automatic driving even when a part of the work vehicle 10 is located outside the area of ​​the field F. Furthermore, as a condition for starting automatic driving when a part of the work vehicle 10 is located outside the area of ​​the field F, safety can be ensured by setting the driving direction of the work vehicle 10 to a direction in which the range B1 of the part of the work vehicle 10 located outside the area does not increase.

[0111] Furthermore, according to the above configuration, for example, the operator can start automatic traveling by moving the work vehicle 10 to a travel start position S set near an entrance / exit or a ridge. This improves work efficiency compared to when the travel start position S is set at a position away from the entrance / exit or a ridge. In addition, the operator can get off the work vehicle 10 near the entrance / exit or a ridge, so automatic traveling can be started without entering the field F.

[0112] The function of the driving processing unit 111 of the vehicle control device 11 according to this embodiment may be disposed outside the work vehicle 10, or may be included in the operation control unit 21 of the operation terminal 20. That is, in the above-described embodiment, the vehicle control device 11 corresponds to the automatic driving system according to the present invention, but the automatic driving system according to the present invention may be configured by the operation terminal 20 alone. Also, the automatic driving system according to the present invention may be configured to include the work vehicle 10 and the operation terminal 20. Also, the function of the driving processing unit 111 may be included in a server capable of communicating with the work vehicle 10. [Explanation of symbols]

[0113] 1:Autonomous driving system 10: Work vehicle 11: Vehicle control device 14: Work equipment 16: Positioning device 20: Operation terminal 21: Operation control section 111: Driving processing unit 211: Setting processing section 212: Output processing section F: Field B1: Area outside the field area S: Travel start position G: End position A1:Work start position A2: Work end position A3: Work interruption position R: Target route R1: Movement route R2: Working route R3: Movement route R4: Movement route C0: Virtual area C1: First virtual area

Claims

1. Automatically driving a work vehicle according to a target route set in a farm field; determining whether a portion of the work vehicle is located outside an area of ​​the field; permitting automatic driving of the work vehicle when it is determined that a part of the work vehicle is located outside the area and the driving direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the area does not increase; An automated driving method that performs the above.

2. When a part of the work vehicle is located outside the area, prohibiting automatic traveling of the work vehicle when the traveling direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the area increases; The method for automatic driving according to claim 1 , further comprising the steps of:

3. permitting automatic traveling of the work vehicle when a part of the work vehicle is located outside the area and the traveling direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the area decreases; The automatic driving method according to claim 1 or 2.

4. the target route includes a work route along which the work vehicle performs a predetermined work, and a movement route connecting a current position of the work vehicle and a work start position of the work route; When a part of the work vehicle is located outside the area, if a traveling direction of the movement path of the work vehicle is a direction in which the range of the part of the work vehicle located outside the area does not increase, permitting automatic traveling of the work vehicle on the movement path. The automatic driving method according to any one of claims 1 to 3.

5. and further executing, in an operation terminal, displaying the work path and the movement path in different modes. The automatic driving method according to claim 4.

6. permitting automatic traveling of the work vehicle when the traveling direction of the work vehicle is a direction in which an area of ​​a first virtual area located outside a virtual area set around the work vehicle does not increase; The automatic driving method according to any one of claims 1 to 5.

7. permitting automatic traveling of the work vehicle when the traveling direction of the work vehicle is a direction in which the area of ​​the first virtual region decreases; The automatic driving method according to claim 6.

8. The work vehicle has a function of stopping automatic driving when a part of the work vehicle goes out of the area during automatic driving, When a part of the work vehicle is located outside the area, the function is set to disabled when the automatic driving of the work vehicle is permitted, and when the work vehicle starts automatic driving and the entire work vehicle is located within the area of ​​the field, the function is set to enabled. The automatic driving method according to any one of claims 1 to 7.

9. when a part of the work vehicle is located outside the area and the work vehicle starts automatic traveling, the travel speed is set to a first travel speed, and when the entire work vehicle is located within the area of ​​the field, the travel speed is set to a second travel speed faster than the first travel speed. The automatic driving method according to any one of claims 1 to 8.

10. Receiving an operation to set a travel start position of the work vehicle with respect to the field; generating a movement route from the travel start position to a work start position where the work vehicle starts work, the movement route being such that the range of a portion of the work vehicle located outside the area does not increase; The automatic driving method according to any one of claims 1 to 9, further comprising the steps of:

11. a travel processing unit that executes a process of automatically traveling a work vehicle along a target route set in a farm field and a process of determining whether or not a part of the work vehicle is located outside an area of ​​the farm field, When the driving processing unit determines that a part of the work vehicle is located outside the area, if the driving direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the area does not increase, the driving processing unit permits automatic driving of the work vehicle. Autonomous driving system.

12. Automatically driving a work vehicle according to a target route set in a farm field; determining whether a portion of the work vehicle is located outside an area of ​​the field; permitting automatic driving of the work vehicle when it is determined that a part of the work vehicle is located outside the area and the driving direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the area does not increase; An automated driving program for executing the above on one or more processors.

Images