Autonomous driving method, work vehicle, and automated driving system

Abstract

To provide an automated travelling method, a work vehicle, and an automated travelling system capable of executed automated travelling smoothly without generating a short automated travelling route.SOLUTION: A combine 1 includes a control device 30 and a portable terminal 40. The control device 30 functions as an automated travelling control unit 35 for automated travelling on the basis of a created automated travelling route 64. The portable terminal 40 includes a control device 41. The control device 41 functions as a route creation unit 53 for creating the automated travelling route 64 as a route parallel to a reference line 63 when one side constituting an object contour is set as the reference line 63 with a farm field contour 60 or a contour of a site 61 for which work is not carried out yet as the object contour, and a reference line setting unit 52 for setting the side as the reference line 63 when the side constituting the object contour is a predetermined side length threshold or more.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Conventionally, a work vehicle such as a combine harvester is configured to be capable of automatic travel along a preset automatic travel route, and creates an automatic travel route that is parallel to a straight reference line in a farm field, for example.

[0003] For example, in the work vehicle automatic driving system disclosed in Patent Document 1, a driving path generating device that generates a driving path for a harvester is constructed by an outline data generating unit, an area setting unit, and a route management unit. The route management unit includes a rectangular route element calculating unit that calculates a group of driving path elements that are parallel lines that extend parallel to a reference side selected from the sides that configure the outline of the work target area and that cover the work target area within the work width. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6936356 Summary of the Invention [Problem to be solved by the invention]

[0005] As described above, the reference line that is the basis for the automatic driving route along which the work vehicle travels automatically is selected from the sides that make up the outline of the field or the outline of the area to be worked on, such as unworked land in the field, but a relatively short side included in the outline of the field or the outline of the area to be worked on may be selected as the reference line. In this case, a relatively short automatic driving route is created based on a relatively short reference line, which may prevent smooth automatic driving and reduce work efficiency.

[0006] In addition, when a work vehicle creates an automatic driving route that connects straight paths and goes around based on the outline of the field or the outline of unworked land rather than a reference line, the length of the straight paths becomes relatively short as the work vehicle approaches the inside of the field, making it difficult for the automatic driving to proceed smoothly and risking reduced work efficiency.

[0007] An object of the present invention is to provide an automatic driving method, a work vehicle, and an automatic driving system that can smoothly proceed with automatic driving without creating a short automatic driving route. [Means for solving the problem]

[0008] In order to solve the above problems, the automatic driving method of the present invention is an automatic driving method for automatically driving a work vehicle in a field, and is characterized in having a route creation process for creating a route parallel to the reference line when the field outline is set as a target outline and one side that constitutes the target outline is set as a reference line, an automatic driving process for performing automatic driving based on the created route, and a reference line setting process for setting one side that constitutes the target outline as the reference line when the one side is equal to or longer than a predetermined side length threshold.

[0009] Alternatively, the automatic driving method of the present invention is an automatic driving method for automatically driving a work vehicle in a field, and is characterized in having a route creation process for creating a route parallel to the reference line when the outline of an unworked part of the field is set as a target outline and one side of the target outline is set as a reference line, an automatic driving process for performing automatic driving based on the created route, and a reference line setting process for setting one side of the target outline as the reference line if the one side is equal to or longer than a predetermined side length threshold.

[0010] Alternatively, the automatic driving method of the present invention is an automatic driving method for automatically driving a work vehicle in a field, comprising a route creation process for creating a route based on the outline of the field or the outline of unworked land in the field, and an automatic driving process for performing automatic driving based on the created route, wherein the route creation process creates only routes whose route length is equal to or greater than a predetermined lower limit route length.

[0011] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle that drives automatically in a field, and is characterized in that it comprises: a route creation unit that creates a route parallel to the reference line when the field outline is set as a target outline and one side that constitutes the target outline is set as a reference line; an automatic driving control unit that performs automatic driving based on the created route; and a reference line setting unit that sets one side that constitutes the target outline as the reference line when the one side is equal to or longer than a predetermined side length threshold.

[0012] Alternatively, the work vehicle of the present invention is a work vehicle that drives automatically in a farm field, and is characterized in that it comprises a route creation unit that creates a route parallel to the reference line when the outline of an unworked area of ​​the field is set as a target outline and one side that constitutes the target outline is set as a reference line, an automatic driving control unit that drives automatically based on the created route, and a reference line setting unit that sets one side that constitutes the target outline as the reference line when the one side is equal to or longer than a predetermined side length threshold.

[0013] Alternatively, the work vehicle of the present invention is a work vehicle that drives automatically in a field, and is equipped with a route creation unit that creates a route based on the outline of the field or the outline of unworked areas of the field, and an automatic driving control unit that drives automatically based on the created route, wherein the route creation unit creates only routes whose route length is equal to or greater than a predetermined lower limit route length.

[0014] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system that automatically drives a work vehicle in a field, and is characterized in that it comprises: a route creation unit that creates a route parallel to the reference line when the field outline is set as a target outline and one side that constitutes the target outline is set as a reference line; an automatic driving control unit that performs automatic driving based on the created route; and a reference line setting unit that sets one side that constitutes the target outline as the reference line when the one side is equal to or longer than a predetermined side length threshold.

[0015] Alternatively, the automatic driving system of the present invention is an automatic driving system that automatically drives a work vehicle in a field, and is characterized in that it comprises: a route creation unit that creates a route parallel to the reference line when the outline of an unworked area of ​​the field is set as a target outline and one side that constitutes the target outline is set as a reference line; an automatic driving control unit that performs automatic driving based on the created route; and a reference line setting unit that sets one side that constitutes the target outline as the reference line when the one side is equal to or longer than a predetermined side length threshold.

[0016] Alternatively, the automatic driving system of the present invention is an automatic driving system that automatically drives a work vehicle in a field, and is equipped with a route creation unit that creates a route based on the outline of the field or the outline of unworked areas of the field, and an automatic driving control unit that performs automatic driving based on the created route, wherein the route creation unit creates only routes whose route length is equal to or greater than a predetermined lower limit route length. Effect of the Invention

[0017] According to the present invention, there is provided an automatic driving method, a work vehicle, and an automatic driving system that can smoothly proceed with automatic driving without creating a short automatic driving route. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a side view of a combine harvester according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a block diagram of a combine harvester according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a plan view showing an example of a work screen displayed on a mobile terminal of a combine harvester according to an embodiment of the present invention. [Figure 4] FIG. 2 is a plan view showing an example of a work screen displayed on a mobile terminal of a combine harvester according to an embodiment of the present invention. [Diagram 5] FIG. 11 is a plan view showing an example of a route setting screen displayed on a mobile terminal of a combine harvester according to an embodiment of the present invention. [Figure 6]FIG. 11 is a plan view showing an example of a route setting screen displayed on a mobile terminal of a combine harvester according to an embodiment of the present invention. [Figure 7] FIG. 2 is a plan view showing an example of a work screen displayed on a mobile terminal of a combine harvester according to an embodiment of the present invention. [Figure 8] 10 is a flowchart showing an example of an operation for performing automatic straight-line traveling in a combine harvester according to an embodiment of the present invention. [Figure 9] FIG. 11 is a plan view showing an example of a partially enlarged work screen displayed on a mobile terminal of a combine harvester according to another embodiment of the present invention. [Figure 10] FIG. 11 is a plan view showing an example of a route setting screen displayed on a mobile terminal of a combine harvester according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] As an example of a work vehicle according to an embodiment of the present invention, a combine harvester 1 will be described with reference to FIG. 1 etc. The combine harvester 1 travels in a field to be worked on by automatic or manual operation, and performs work such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic operation in which steering is controlled by automatic operation, while the traveling speed is controlled in response to manual operation, and unmanned operation in which steering and traveling speed are controlled by automatic operation, and can travel, turn and work autonomously in the field.

[0020] The combine harvester 1 harvests multiple rows of stalks while traveling along a straight line with a harvest width of a predetermined number of rows within the number of harvestable rows. The combine harvester 1 can be set to either a manual driving mode or an automatic driving mode. When the manual driving mode is set, the combine harvester 1 is configured to be driven manually in response to the operation of the control unit 9 by an operator.

[0021] On the other hand, when the automatic travel mode is set, the combine harvester 1 is configured to perform automatic straight-line travel, which automatically reaps while automatically traveling along an automatic travel path parallel to a reference line set in the field. For example, when the combine harvester 1 performs automatic straight-line travel, the outline of the field may be set as the target outline and one side constituting this target outline may be set as the reference line, or the outline of an unworked area of ​​the field may be set as the target outline and one side constituting this target outline may be set as the reference line.

[0022] As shown in FIG. 1, the combine harvester 1 is equipped with a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9, and is configured as a so-called head-threshing combine. While traveling on the traveling section 2, the combine harvester 1 threshes the stalks harvested by the reaping section 3 in the threshing section 4, and sorts the grains in the sorting section 5 and stores them in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 with power supplied by the power section 8.

[0023] The traveling unit 2 is provided below the machine frame 10, and includes a pair of left and right crawler-type traveling devices 11, and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from an engine 27 of the power unit 8, causing the combine 1 to travel in the forward / rearward direction and turn in the left / right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11, and can also change the speed of the rotational power.

[0024] The reaping unit 3 is provided in front of the traveling unit 2, and performs reaping work on rows within the number of reaping rows. The reaping unit 3 is equipped with a divider 13, a raising device 14, a cutting device 15, and a transporting device 16. The divider 13 separates the culms in the field row by row, and guides a predetermined number of culms within the number of reaping rows to the raising device 14. The raising device 14 raises the culms guided by the divider 13. The cutting device 15 cuts the culms raised by the raising device 14. The transporting device 16 transports the culms cut by the cutting device 15 to the threshing unit 4.

[0025] The threshing unit 4 is provided behind the reaping unit 3. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stew transported from the transport device 16 of the reaping unit 3 for threshing, and further transports the threshed stew, i.e., waste straw, to the straw waste processing unit 7. The threshing drum 19 threshes the stew transported by the feed chain 18.

[0026] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw chip discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have dropped from the threshing section 4 to separate them into grains, straw chips, etc. The air blowing sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw chips, etc. by blowing air. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 6. The straw chip discharge device discharges the straw chips, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the outside of the machine.

[0027] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 24 and a discharge device 25. The grain tank 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to any desired location.

[0028] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine.

[0029] The power unit 8 is provided above the traveling unit 2 and in front of the storage unit 6. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0030] The control unit 9 is provided above the power unit 8. The control unit 9 is provided with, around the driver's seat where the operator sits, operating tools for controlling the travel of the combine harvester 1, such as a handle for instructing the turning of the body of the combine harvester 1, and a main speed change lever and an auxiliary speed change lever for instructing a change in the forward and backward speed of the combine harvester 1. Manual travel of the combine harvester 1 is performed by the travel unit 2 that receives operation of the handle, main speed change lever, and auxiliary speed change lever of the control unit 9. The control unit 9 also includes mechanisms for operating the reaping work by the reaping unit 3, the threshing work by the threshing unit 4, the discharge work by the discharge device 25 of the storage unit 6, and the like.

[0031] The combine harvester 1 is equipped with a positioning unit 28 that uses a satellite positioning system such as a GPS to acquire the vehicle position of the combine harvester 1. The positioning unit 28 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 28, i.e., the vehicle position of the combine harvester 1, based on the positioning signal.

[0032] Next, the control device 30 of the combine harvester 1 will be described with reference to Fig. 2. The control device 30 is composed of a computer such as a CPU, and is connected to a storage unit 31 such as a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 32 that communicates with external devices.

[0033] The storage unit 31 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by executing calculations based on the programs and data stored in the storage unit 31. The control device 30 acquires, for example, the position of the combine harvester 1 from the positioning unit 28, and also acquires the traveling direction of the combine harvester 1 at its own position.

[0034] The communication unit 32 is capable of wireless communication with external devices such as a mobile terminal 40 held by a worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to perform wireless communication with the mobile terminal 40 and transmits and receives various information to and from the mobile terminal 40.

[0035] Moreover, the control device 30 operates as an automatic driving control unit 35 by executing a program stored in the storage unit 31. The automatic driving control unit 35 realizes an automatic driving step of the automatic driving method according to the present invention.

[0036] When the automatic travel mode is set, the automatic travel control unit 35 controls the automatic travel of the combine harvester 1 based on a route created for the field. For example, the automatic travel control unit 35 controls the automatic straight-line travel of the combine harvester 1 that automatically reaps while automatically traveling along an automatic travel route created based on a reference line set in the field. Specifically, the automatic travel control unit 35 acquires field information, reference lines, and automatic travel routes set for the field from the mobile terminal 40. When the automatic straight-line travel starts, the automatic travel control unit 35 acquires the vehicle position of the combine harvester 1 from the positioning unit 28, and controls the power unit 8, the travel unit 2, and the reaping unit 3 so that the combine harvester 1 automatically travels straight along the automatic travel route based on the vehicle position and the automatic travel route.

[0037] The mobile terminal 40 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, as a tablet terminal equipped with a touch panel or a notebook personal computer. An operation device similar to the mobile terminal 40 may be provided in the control unit 9. In the present invention, the combine harvester 1 and the mobile terminal 40 configure an automatic driving system.

[0038] 2, the mobile terminal 40 includes a control device 41 configured with a computer such as a CPU, and the control device 41 is connected to a storage unit 42 such as a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 43 that communicates with external devices. The mobile terminal 40 also includes a display unit 44 such as a touch panel or a monitor for displaying and outputting various information to the worker, and an input unit 45 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0039] The memory unit 42 stores programs and data for controlling various components and functions of the mobile terminal 40, and the control device 41 executes calculation processing based on the programs and data stored in the memory unit 42, thereby controlling the various components and functions of the mobile terminal 40. The memory unit 42 stores field information, reference lines, and automatic travel routes for the field on which the combine harvester 1 is to work.

[0040] For example, as shown in Figs. 3 and 4, a field has an unworked area 61 where work such as harvesting has not yet been performed and a worked area 62 where work has already been completed within a field outer shape 60 that is a shape that follows the periphery of the field. In order to perform automatic straight-line driving in the field, a reference line 63 is set, and an automatic driving route 64 consisting of multiple straight-line routes parallel to the reference line 63 is created at the working width interval of the combine 1. Note that Figs. 3 and 4 show a work screen 70 that displays the field outer shape 60, the unworked area 61, the worked area 62, the reference line 63, and the automatic driving route 64. Note that the reference line 63 is shown in a thick line, and the automatic driving route 64 is shown in a dashed line. The field information includes, for example, information such as the shape, size, and position information (coordinates, etc.) of the field outer shape 60, and the shape, size, and position information (coordinates, etc.) of the unworked area 61 and the worked area 62.

[0041] The communication unit 43 is communicably connected to the communication unit 32 of the combine harvester 1 via a wireless communication antenna. The control device 41 controls the communication unit 43 to perform wireless communication with the combine harvester 1 and transmits and receives various information to and from the combine harvester 1.

[0042] The control device 41 of the mobile terminal 40 executes the programs stored in the memory unit 42 to operate as a field selection unit 50, a work area determination unit 51, a reference line setting unit 52, a route creation unit 53, and a display control unit 54. The field selection unit 50, the work area determination unit 51, the reference line setting unit 52, the route creation unit 53, and the display control unit 54 respectively realize the field selection step, the work area determination step, the reference line setting step, the route creation step, and the display step of the automatic driving method according to the present invention.

[0043] The field selection unit 50 manually or automatically selects a field to be the target of the automatic driving operation, sets the outer periphery of the field, i.e., the field outer shape 60, and stores it in the memory unit 42. For example, the field selection unit 50 displays a field selection screen (not shown) on the display unit 44 for selecting the field to be the target of the operation. On the field selection screen, if field information including the field outer shape 60 has already been stored in the memory unit 42, it is possible to select a field corresponding to the field information. When a field is selected on the field selection screen by manual operation, the field selection unit 50 selects the selected field as the target of the operation, and reads out the field information corresponding to the selected field from the memory unit 42.

[0044] In addition, the field selection screen allows the creation of a new field. When the creation of a new field is operated on the field selection screen, the field selection unit 50 selects the new field at the vehicle position of the combine harvester 1 as the work target. Then, when the combine harvester 1 goes around the outer periphery shape of the new field to perform the outer periphery mowing run, the field selection unit 50 receives the vehicle position of the combine harvester 1 measured by the positioning unit 28 of the combine harvester 1 from the combine harvester 1, and records the position information of the outer periphery shape of the new field and the position information of the route of the outer periphery mowing run. The field selection unit 50 creates a field outer shape 60 of the new field based on the position information acquired during the outer periphery mowing run, and creates field information including the field outer shape 60 and stores it in the storage unit 42.

[0045] The work area determination unit 51 determines whether the field is an unworked area 61 or a worked area 62, and stores information on the unworked area 61 and the worked area 62 as field information in the memory unit 42 based on the determination result. Before work in the field is started, the unworked area 61 is set over the entire field, and the worked area 62 is not set. As the combine harvester 1 performs mowing travel in the field regardless of whether it is manual travel or automatic travel, the work area determination unit 51 records the travel path of the mowing travel in the field based on the vehicle position of the combine harvester 1, sequentially records and updates the area based on the travel path of the mowing travel and the working width of the combine harvester 1 as the worked area 62, and deletes the area set as the worked area 62 from the unworked area 61 to update it.

[0046] The reference line setting unit 52 sets a reference line 63 that serves as a reference for an automatic travel route 64 along which the combine harvester 1 automatically travels straight ahead in the field. The reference line setting unit 52 sets a field outline 60 of the field as a target outline and one of a plurality of sides that constitute this target outline as the reference line 63, or sets an outline of an unworked area 61 of the field as a target outline and one of a plurality of sides that constitute this target outline as the reference line 63.

[0047] The reference line setting unit 52 may set in advance the field outer shape 60 or the outer shape of the unworked land 61 as the target outer shape for setting the reference line 63, or may allow the outer shape to be arbitrarily selected in response to a selection operation by the operator. Alternatively, the reference line setting unit 52 may automatically switch between the field outer shape 60 or the outer shape of the unworked land 61 as the target outer shape for setting the reference line 63 in response to the work situation of the field. For example, when automatic straight-line traveling is performed for the periphery mowing traveling to form a headland along the field outer shape 60 of the field, the reference line setting unit 52 may set the field outer shape 60 as the target outer shape, and when automatic straight-line traveling is performed in the unworked land 61 after the headland is formed, the reference line setting unit 52 may set the outer shape of the unworked land 61 as the target outer shape.

[0048] For example, the reference line setting unit 52 automatically selects one side from among a plurality of sides constituting the target outer shape based on the vehicle position and traveling direction of the combine harvester 1, and sets it as the reference line 63. At this time, the reference line setting unit 52 may set as the reference line 63 the side that is disposed closer to the vehicle position and has an extension direction closer to the traveling direction.

[0049] Particularly in this embodiment, only when one side selected from the multiple sides constituting the target outer shape based on the vehicle position and traveling direction is equal to or greater than a predetermined side length threshold, the reference line setting unit 52 sets the side of the first candidate based on the vehicle position and traveling direction as the reference line 63. Note that when the side selected as the first candidate based on the vehicle position and traveling direction is equal to or greater than the side length threshold, the reference line setting unit 52 sets the side of the first candidate as the reference line 63, but when the side of the first candidate is less than the side length threshold, the reference line setting unit 52 does not set the side of the first candidate as the reference line 63, and sets the side selected as the second candidate based on the vehicle position and traveling direction as the reference line 63.

[0050] For example, in the case where the field outline 60 is the target outline, as shown in FIG. 3, if the vehicle position of the combine 1 is closer to the side 60a of the field outline 60 and the traveling direction of the combine 1 is closer to the extension direction of the side 60a, the reference line setting unit 52 selects the side 60a as the first candidate based on the vehicle position and traveling direction. However, if the side 60a is less than a predetermined side length threshold, the reference line setting unit 52 does not set the first candidate side 60a as the reference line 63. In this case, if the vehicle position of the combine 1 is next closest to the side 60b of the field outline 60 and the traveling direction of the combine 1 is next closest to the extension direction of the side 60b, the reference line setting unit 52 selects the side 60b as the second candidate based on the vehicle position and traveling direction. In this case, if the side 60b is equal to or longer than a predetermined side length threshold, the reference line setting unit 52 sets the second candidate side 60b as the reference line 63.

[0051] Alternatively, when the reference line setting unit 52 selects one side from the multiple sides constituting the target outer shape in response to a manual locking operation by the operator, the reference line setting unit 52 sets the side selected by the locking operation as the reference line 63, regardless of the vehicle position and traveling direction of the combine harvester 1. In this case, the reference line setting unit 52 sets the side selected by the locking operation as the reference line 63, regardless of the vehicle position and traveling direction of the combine harvester 1, and regardless of whether the side selected by the locking operation is equal to or longer than a predetermined side length threshold.

[0052] For example, when the field outline 60 is the target outline, as shown in Figure 4, even if the vehicle position of the combine 1 is close to a side 60a of the field outline 60 and the direction of travel of the combine 1 is different from the extension direction of the side 60a, and the side length of the side 60a is less than a predetermined side length threshold, the reference line setting unit 52 sets the side 60a as the reference line 63 when a lock operation for the side 60a is performed.

[0053] The predetermined side length threshold may be set in advance, or may be arbitrarily set according to a setting operation by an operator. The reference line setting unit 52 realizes a threshold setting step of setting the predetermined side length threshold in the automatic driving method according to the present invention.

[0054] When the reference line 63 is set by the reference line setting unit 52, the route creation unit 53 creates an automatic travel route 64 based on the reference line 63, stores it in the storage unit 42, and transmits it to the combine harvester 1 via the communication unit 32. For example, the route creation unit 53 creates the automatic travel route 64 throughout the entire field, which is a straight line parallel to the set reference line 63 and is made up of a plurality of straight routes arranged at intervals of the work width of the combine harvester 1 from the reference line 63. Alternatively, the route creation unit 53 creates the automatic travel route 64 throughout the entire field, which is a straight line parallel to the set reference line 63 and is made up of a straight route passing through the vehicle position of the combine harvester 1 and a plurality of straight routes arranged at intervals of the work width of the combine harvester 1 from the straight route. When the reference line 63 is changed and set in response to a change in the vehicle position or traveling direction of the combine 1 or a manual locking operation by an operator, the route creation unit 53 changes and creates the automatic driving route 64 based on the changed reference line 63.

[0055] When the automatic driving mode is set, the display control unit 54 controls the display unit 44 to display a work screen 70 for automatic straight driving in the field that is the work target, as shown in Fig. 3 and Fig. 4. The display control unit 54 displays at least a map field 71 on the work screen 70, and also displays a work start button 72 and a reference line lock button 73 in an operable manner. The display control unit 54 also displays, on the work screen 70, a registered field name 74 based on the field information, and a possible reaping distance 75 based on the free space of the grain tank 24 in which the combine harvester 1 stores grains.

[0056] The display control unit 54 displays the field outline 60 on the map in the map field 71 based on the field information of the field selected by the field selection unit 50, and further displays the vehicle marking 65 of the combine harvester 1 at the vehicle position of the combine harvester 1 measured by the positioning unit 28 of the combine harvester 1. The display control unit 54 displays the unworked land 61 and the worked land 62 in a distinguishable manner within the field outline 60. In other words, the display control unit 54 displays the field outline 60, the unworked land 61, and the worked land 62 in a distinguishable manner in the map field 71 by changing the display method such as the line type, line color, and background color. The display control unit 54 updates the position of the vehicle marking 65 and the range of the unworked land 61 and the worked land 62 according to the progress of the harvesting travel of the combine harvester 1.

[0057] When the reference line setting unit 52 sets the reference line 63, the display control unit 54 identifiably displays in the map field 71 of the work screen 70 that the field outline 60 or the outline of the unworked land 61 is the target outline for which the reference line 63 is to be set by changing the display method such as line type and line color from other items. Furthermore, the display control unit 54 identifiably displays in the map field 71, among the sides that make up the target outline, sides that are equal to or greater than a predetermined side length threshold and sides that are less than the predetermined side length threshold, using different display methods (for example, line type, line color, etc.). Furthermore, the display control unit 54 displays the lengths of the sides that make up the target outline in the map field 71 by using text or the like near each side, as shown in FIG. 7.

[0058] The display control unit 54 also enables a predetermined side length threshold to be set on a route setting screen 80 (see FIG. 5 and FIG. 6) or the work screen 70 for creating the automatic driving route 64. For example, as shown in FIG. 5, the display control unit 54 displays an input field 81 on the route setting screen 80 that allows the side length threshold to be input and set regardless of whether the target outline is the field outline 60 or the outline of the unworked land 61. Alternatively, as shown in FIG. 6, the display control unit 54 displays an input field 82 on the route setting screen 80 that allows the side length threshold to be input and set when the field outline 60 is the target outline, and an input field 83 on the route setting screen 80 that allows the side length threshold to be input and set when the outline of the unworked land 61 is the target outline. The display control unit 54 may also display an input field 84 on the route setting screen 80 that allows the lower limit route length to be input and set when creating the automatic driving route 64 based on the reference line 63.

[0059] 7, the display control unit 54 displays an input field 76 on the work screen 70, inside or outside the frame of the map field 71, that allows the user to input and set a side length threshold value when the field outline 60 or the outline of the unworked land 61 is set as the target outline. In other words, the display control unit 54 displays the lengths of the sides that make up the target outline and the input field 76 for inputting the side length threshold value on the same screen by the work screen 70.

[0060] In addition, the reference line 63 is set when the side of the target outline is equal to or greater than a predetermined side length threshold. If the side length threshold is changed in response to a setting operation, the reference line setting unit 52 may again determine whether the side of the target outline is equal to or greater than the predetermined side length threshold, and may change and set the reference line 63 if necessary in response to the result of the determination.

[0061] When the reference line setting unit 52 automatically selects one side of the reference line 63 based on the vehicle position and traveling direction of the combine harvester 1, the display control unit 54 displays the automatically selected side of the reference line 63 in the map area 71 so that it can be distinguished from the other sides.

[0062] Furthermore, when the reference line 63 is selected in the map field 71 by a manual lock operation, the display control unit 54 allows each side constituting the outline of the field outline 60 or the unworked land 61 to be selected as each side constituting the target outline for which the reference line 63 is to be set. When the reference line lock button 73 is selected in a state in which one side of the target outline is selected, the display control unit 54 accepts a lock operation for setting the one side as the reference line 63. At this time, the reference line setting unit 52 sets the one side as the reference line 63 regardless of the vehicle position and traveling direction of the combine harvester 1 and regardless of whether the one side is equal to or longer than a predetermined side length threshold. The display control unit 54 displays the one side of the reference line 63 set in response to the lock operation in the map field 71 in a distinguishable manner from the other sides.

[0063] When the route creation unit 53 creates the automatic travel route 64 based on the reference line 63 set by the reference line setting unit 52, the display control unit 54 displays the created automatic travel route 64 in the map field 71 of the work screen 70. When the reference line 63 is changed in response to a change in the vehicle position or travel direction of the combine harvester 1 or a manual lock operation by the operator, and the automatic travel route 64 is changed based on the changed reference line 63, the display control unit 54 updates and displays the changed automatic travel route 64 in the map field 71. In addition, while the reference line 63 is set when the side of the target outline is equal to or greater than a predetermined side length threshold, when the side length threshold is changed in response to a setting operation, the display control unit 54 updates and displays the changed automatic travel route 64 in the map field 71 based on the changed reference line 63.

[0064] The display control unit 54 makes the work start button 72 selectable when the conditions for starting automatic straight-ahead travel are satisfied, and makes the work start button 72 inoperable when the conditions for starting are not satisfied. When the work start button 72 is selected, the display control unit 54 transmits a start command together with information on the field, the reference line 63, and the automatic travel route 64 to the combine harvester 1. In response to the start command, the combine harvester 1 starts automatic straight-ahead travel along the automatic travel route 64.

[0065] While the combine harvester 1 is performing automatic straight-ahead traveling, the display control unit 54 displays a work stop button (not shown) in place of the work start button 72 so that it can be selected. When the work stop button is selected, the display control unit 54 transmits a stop instruction to the combine harvester 1. The combine harvester 1 ends the automatic straight-ahead traveling in response to the stop instruction. Furthermore, when the combine harvester 1 ends the automatic straight-ahead traveling, the display control unit 54 displays the work start button 72 in place of the work stop button.

[0066] Next, an example of an operation for automatically traveling straight ahead in the combine harvester 1 will be described with reference to the flow chart of FIG.

[0067] First, in the mobile terminal 40 of the combine 1, when the field selection unit 50 selects a field to be worked on, the reference line setting unit 52 acquires the field outline 60 or the outline of the unworked land 61 as the target outline for setting the reference line 63 (step S1). The reference line setting unit 52 selects one side of the candidate for the reference line 63 from the multiple sides constituting the target outline based on the vehicle position and traveling direction of the combine 1 (step S2). If the side is equal to or greater than a predetermined side length threshold (step S3: Yes), the reference line setting unit 52 sets the side as the reference line 63 (step S4). On the other hand, if the side is less than the predetermined side length threshold (step S3: No), the reference line setting unit 52 sets the next candidate side as the reference line 63 (step S5).

[0068] Next, the route creation unit 53 creates an automatic driving route 64 based on the reference line 63 set by the reference line setting unit 52, and transmits the route to the combine harvester 1 (step S6). Then, when a start instruction is transmitted to the combine harvester 1 by operating the work start button 72 on the work screen 70 in the mobile terminal 40, the automatic driving control unit 35 in the combine harvester 1 starts automatic straight driving along the automatic driving route 64 in response to the start instruction (step S7).

[0069] As described above, according to this embodiment, the combine harvester 1 includes the control device 30 and the mobile terminal 40. The control device 30 functions as an automatic driving control unit 35 that performs automatic driving based on the created automatic driving route 64. The mobile terminal 40 includes a control device 41, which functions as a route creation unit 53 that creates the automatic driving route 64 as a route parallel to the reference line 63 when the outline of the field outline 60 or the unworked land 61 is set as the target outline and one side of the target outline is set as the reference line 63, and a reference line setting unit 52 that sets the one side of the target outline as the reference line 63 when the one side is equal to or longer than a predetermined side length threshold.

[0070] In other words, in the present invention, the automatic driving method for automatically driving a work vehicle such as a combine harvester 1 in a field includes a route creation process for creating an automatic driving route 64 as a route parallel to the reference line 63 when the outline of a field outline 60 or an unworked area 61 is set as a target outline and one side of the target outline is set as a reference line 63, an automatic driving process for performing automatic driving based on the created route, and a reference line setting process for setting one side of the target outline as the reference line 63 if the one side is equal to or longer than a predetermined side length threshold.

[0071] As a result, the combine harvester 1 does not set a reference line 63 that is less than the side length threshold, and therefore does not create a relatively short automatic travel route 64 based on a relatively short reference line 63. Therefore, a longer automatic travel route 64 can be created, allowing automatic travel to proceed smoothly, and improving work efficiency.

[0072] According to this embodiment, the reference line setting unit 52 functions as a threshold setting step for setting a predetermined side length threshold.

[0073] This allows the worker to set the side length threshold to a length that suits the field conditions and the worker's intentions, and allows the worker to set a reference line 63 suitable for field work and create an automatic driving route 64 suitable for field work.

[0074] According to this embodiment, the control device 41 of the mobile terminal 40 functions as a display control unit 54 that displays the target outline, and the display control unit 54 displays, among the sides that make up the target outline, sides that are equal to or greater than a predetermined side length threshold and sides that are less than the predetermined side length threshold in different display methods.

[0075] This enables the operator to check sides in the field that are suitable for the reference line 63 and have a side length equal to or greater than the side length threshold, and sides that are not suitable for the reference line 63 and have a side length less than the side length threshold.

[0076] According to this embodiment, the control device 41 of the mobile terminal 40 functions as a display control unit 54 that displays the object outline, and the display control unit 54 displays the lengths of the sides that make up the object outline.

[0077] This allows the operator to check the length of the side to be the reference line 63 in the field, and also allows the operator to set the side length threshold while checking the side length.

[0078] According to this embodiment, when the reference line setting unit 52 selects one of the sides that constitute the target outline to be the reference line 63 in response to a specified locking operation, the reference line setting unit 52 sets the side as the reference line 63 even if the side is less than a specified side length threshold.

[0079] This allows the operator to set even a side that is less than the side length threshold to the reference line 63 by performing a manual lock operation.

[0080] In the above embodiment, an example was described in which the reference line setting unit 52 sets one side of the target outline that is equal to or longer than a predetermined side length threshold as the reference line 63, and the route creation unit 53 creates an automatic driving route 64 that is parallel to the reference line 63 regardless of the route length, but the present invention is not limited to this example.

[0081] For example, in another embodiment, the reference line setting unit 52 sets a first side length threshold of a predetermined side length and a second side length threshold of a side length shorter than the first side length threshold as the predetermined side length threshold, and the reference line setting unit 52 sets one side of the target outline that is equal to or greater than the second side length threshold as the reference line 63, and the route creation unit 53 creates only the automatic driving route 64 that is equal to or greater than the predetermined lower limit route length when the reference line 63 is equal to or greater than the second side length threshold and less than the first side length threshold.

[0082] Specifically, the reference line setting unit 52 selects one side from the multiple sides that constitute the target outline, which is the outline of the field outline 60 or the unworked land 61, based on the vehicle position and traveling direction of the combine 1, and sets that side as the reference line 63 if the selected side is longer than or equal to the second side length threshold.

[0083] When the reference line 63 is equal to or greater than the second side length threshold and less than the first side length threshold, the route creation unit 53 creates only an automatic driving route 64 whose route length is equal to or greater than a predetermined lower limit route length, and does not create an automatic driving route 64 whose route length is less than the predetermined lower limit route length. Moreover, when the reference line 63 is equal to or greater than the first side length threshold, the route creation unit 53 creates an automatic driving route 64 regardless of the route length.

[0084] For example, in the case where the field outline 60 is the target outline, as shown in Fig. 9, if the vehicle position of the combine harvester 1 is closer to a side 60a of the field outline 60 and the traveling direction of the combine harvester 1 is closer to the extension direction of the side 60a, the reference line setting unit 52 selects the side 60a as a candidate based on the vehicle position and traveling direction. In this case, if the side 60a is equal to or longer than the second side length threshold, the reference line setting unit 52 sets the side 60a as the reference line 63. Note that Fig. 9 is a partially enlarged view of the map field 71 of the work screen 70 displaying an example in another embodiment.

[0085] Next, the path creation unit 53 creates an automatic travel path 64 consisting of a plurality of straight paths parallel to the reference line 63 at the working width interval of the combine harvester 1. At this time, when the reference line 63 is equal to or greater than the second side length threshold and less than the first side length threshold, the path creation unit 53 creates a straight path 64a having a path length equal to or greater than a predetermined lower limit path length, but does not create a straight path 64b having a path length less than the predetermined lower limit path length.

[0086] In addition, when the path creation unit 53 creates the automatic travel path 64 using the side 60a of the field outline 60 and the sides 60b and 60c continuous with each other as the reference lines 63, the path creation unit 53 creates the straight paths 64c and 64d before and after the straight path 64a, and creates the straight paths 64e and 64f before and after the straight path 64b that is not created. In this case, the path creation unit 53 may create the automatic travel path 64 so that the straight paths 64c and 64d are continuous before and after the straight path 64a. Note that the path creation unit 53 may create the automatic travel path 64 so that the straight paths 64e and 64f are continuous by extending the straight paths 64e and 64f before and after the straight path 64b that is not created until they intersect, but it is not necessary to create a path for connecting the straight paths 64e and 64f.

[0087] The predetermined lower limit route length may be set in advance, or may be arbitrarily set according to a setting operation by an operator. In the automatic driving method according to the present invention, the route creation unit 53 realizes a lower limit setting step of setting the predetermined lower limit route length.

[0088] According to the other embodiment described above, the combine harvester 1 does not create a relatively short automatic travel route 64, so that a longer automatic travel route 64 can be created to smoothly perform automatic travel, and work efficiency can be improved. For example, when a reference line 63 that is equal to or greater than the second side length threshold (equal to or greater than a predetermined side length threshold) is set in a farm field, if an automatic travel route 64 consisting of a plurality of straight routes parallel to the reference line 63 is created, the route length of the straight routes becomes shorter as the area approaches the inside of the farm field. However, as described above, by not creating a straight route with a route length that is less than the predetermined lower limit route length, a relatively short automatic travel route 64 is not created.

[0089] Furthermore, in the other embodiment described above, the display control unit 54 enables the first side length threshold and the second side length threshold to be set on the route setting screen 80 and the work screen 70. For example, as shown in Fig. 10, the display control unit 54 displays, on the route setting screen 80, an input field 85 that enables the first side length threshold to be input and an input field 86 that enables the second side length threshold to be input and set.

[0090] Furthermore, the display control unit 54 enables a predetermined lower limit route length to be set on the route setting screen 80 or the work screen 70. For example, as shown in Fig. 10, the display control unit 54 displays an input field 87 on the route setting screen 80 that enables inputting and setting a lower limit route length when creating an automated driving route 64 based on a reference line 63. Alternatively, the display control unit 54 may display an input field on the work screen 70, inside or outside the frame of the map field 71, that enables inputting and setting a lower limit route length.

[0091] This allows the operator to set the lower limit route length to a length that suits the field conditions and the operator's intentions, making it possible to create an automatic driving route 64 that is suitable for work in the field.

[0092] In a further embodiment, the reference line setting unit 52 automatically selects one side from multiple sides constituting the target outline, which is the outline of the field outline 60 or the unworked land 61, based on the vehicle position and traveling direction of the combine harvester 1, regardless of the side length, and sets it as the reference line 63. The path creation unit 53 creates automatic travel paths 64 consisting of multiple straight paths parallel to the reference line 63 at the working width interval of the combine harvester 1, and creates only automatic travel paths 64 whose path length is equal to or longer than a predetermined lower limit path length, regardless of the length of the reference line 63.

[0093] For example, similar to the example described with reference to Figure 9 in the other embodiment described above, the path creation unit 53 creates a straight path 64a among multiple straight paths parallel to the reference line 63, the straight path 64a having a path length that is equal to or greater than a predetermined lower limit path length, while not creating a straight path 64b having a path length that is less than the predetermined lower limit path length.

[0094] In addition, the route creation unit 53 creates straight routes 64c and 64d before and after the straight route 64a, and creates straight routes 64e and 64f before and after the straight route 64b that is not created. At this time, the route creation unit 53 may create the automatic driving route 64 so that the straight routes 64c and 64d are continuous before and after the straight route 64a. Note that the route creation unit 53 may create the automatic driving route 64 so that the straight routes 64e and 64f are continuous by extending the straight routes 64e and 64f before and after the straight route 64b that is not created until they intersect, but it is not necessary to create a route for connecting the straight routes 64e and 64f.

[0095] In this further embodiment, similarly to the other embodiments, the predetermined lower limit route length may be set in advance, or may be arbitrarily set according to a setting operation by an operator. In the automatic driving method according to the present invention, the route creation unit 53 realizes a lower limit setting step of setting a predetermined lower limit route length. The display control unit 54 enables the predetermined lower limit route length to be set on the route setting screen 80 or the work screen 70.

[0096] In a further embodiment, the route creation unit 53 is not limited to the example of creating the automatic travel route 64 consisting of multiple straight routes parallel to the reference line 63 at the work width interval of the combine harvester 1. For example, the route creation unit 53 creates the automatic travel route 64 so that the automatic mowing travel is performed in a circular mowing pattern in which a circuit of connected straight routes is repeated while shifting toward the center so as to follow the inner circumference of the target outline, with the outline of the field outline 60 or the unworked land 61 as the target outline. Even in this case, the route creation unit 53 creates the automatic travel route 64 so that the route length of each straight route is equal to or longer than the predetermined lower limit route length.

[0097] According to the further embodiment described above, the combine 1 does not create a straight path whose path length is less than a predetermined lower limit path length, and therefore does not create a relatively short automatic driving path 64. Therefore, a longer automatic driving path 64 can be created, allowing automatic driving to proceed smoothly, thereby improving work efficiency.

[0098] In the above embodiment, an example of the combine harvester 1 configured as a head-feeding type combine harvester has been described, but the present invention is not limited to this example, and the combine harvester 1 may be configured as a normal type combine harvester.

[0099] In the above embodiment, an example has been described in which the work vehicle is configured as the combine harvester 1, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be configured as another agricultural work machine that harvests crops, or may be configured as a work vehicle other than an agricultural work machine.

[0100] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or concept of the invention that can be read from the claims and the entire specification, and the automated driving method, work vehicle, and automated driving method that involve such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0101] 1 Combine (work vehicle) 2 Running part 3 Reaping part 30 Control device 35 Automatic driving control unit 40 Mobile Devices 41 Control device 44 Display section 50 Field Selection Section 51 Work area determination section 52 Reference line setting section 53 Route Creation Department 54 Display control unit 60 Field Outline 61 Unworked Area 63 Reference Line 64 Automatic driving route

Claims

1. An automatic driving method for automatically driving a work vehicle in a field, comprising: a route creation process for creating a route parallel to a reference line when a farm field outline is set as a target outline and one side constituting the target outline is set as a reference line; an automatic driving step of performing automatic driving based on the created route; a reference line setting step of selecting, from a plurality of sides constituting the target outer shape based on the vehicle position and the traveling direction, one side that is located closer to the vehicle position and has an extension direction closer to the traveling direction as one of the candidate sides of the reference line, and setting the one side as the reference line if the one side is equal to or longer than a predetermined side length threshold; An automatic driving method comprising the steps of:

2. An automatic driving method for automatically driving a work vehicle in a field, comprising: a route creation process for creating a route parallel to a reference line when an outline of an unworked area of ​​the field is set as a target outline and one side constituting the target outline is set as a reference line; an automatic driving step of performing automatic driving based on the created route; a reference line setting step of selecting, from a plurality of sides constituting the target outer shape based on the vehicle position and the traveling direction, one side that is located closer to the vehicle position and has an extension direction closer to the traveling direction as one of the candidate sides of the reference line, and setting the one side as the reference line if the one side is equal to or longer than a predetermined side length threshold; An automatic driving method comprising the steps of:

3. 3. The method for automatic driving according to claim 1, further comprising a threshold setting step of setting the predetermined side length threshold.

4. the predetermined side length threshold includes a first side length threshold and a second side length threshold that is shorter than the first side length threshold, the reference line setting step includes setting the side as a reference line when the side is equal to or longer than the second side length threshold; the route creation step, when the reference line is equal to or greater than the second side length threshold and less than the first side length threshold, creates only the route whose route length is equal to or greater than a predetermined lower limit route length; The method for automatic driving according to any one of claims 1 to 3, characterized in that, when the reference line is equal to or greater than the first side length threshold, the route is created regardless of the route length.

5. 5. The method according to claim 4, further comprising a lower limit setting step of setting the predetermined lower limit route length.

6. A display step of displaying the target outer shape, The autonomous driving method according to any one of claims 1 to 5, characterized in that the display step displays, among the sides constituting the target outer shape, sides that are equal to or greater than the predetermined side length threshold and sides that are less than the predetermined side length threshold in different display methods.

7. A display step of displaying the target outer shape, The autonomous driving method according to any one of claims 1 to 5, characterized in that the display step displays lengths of the sides that constitute the target outer shape.

8. The autonomous driving method according to any one of claims 1 to 7, characterized in that, in the reference line setting process, when one side constituting the target outline is selected to be the reference line in response to a predetermined locking operation, the one side is set as the reference line even if the one side is shorter than a predetermined side length threshold.

9. The autonomous driving method according to any one of claims 1 to 8, characterized in that the reference line setting process selects one side of the candidate reference line from a plurality of sides constituting the target outline based on the vehicle position and the traveling direction, and if the one side is less than a side length threshold, does not set the one side as the reference line, and selects another side that will be the next candidate for the reference line based on the vehicle position and the traveling direction.

10. A work vehicle that automatically travels in a field, a path creation unit that creates a path parallel to a reference line when a farm field outline is set as a target outline and one side constituting the target outline is set as a reference line; An automatic driving control unit that performs automatic driving based on the created route; a reference line setting unit that selects, from a plurality of sides constituting the target outer shape based on a vehicle position and a traveling direction, a side that is located closer to the vehicle position and has an extension direction closer to the traveling direction as a candidate side of the reference line, and sets the side as the reference line if the side is equal to or longer than a predetermined side length threshold; A work vehicle comprising:

11. A work vehicle that automatically travels in a field, a route creation unit that creates a route parallel to a reference line when an outline of an unworked area of ​​the field is set as a target outline and one side constituting the target outline is set as a reference line; An automatic driving control unit that performs automatic driving based on the created route; a reference line setting unit that selects, from a plurality of sides constituting the target outer shape based on a vehicle position and a traveling direction, a side that is located closer to the vehicle position and has an extension direction closer to the traveling direction as a candidate side of the reference line, and sets the side as the reference line if the side is equal to or longer than a predetermined side length threshold; A work vehicle comprising:

12. An automatic driving system that automatically drives a work vehicle in a field, a path creation unit that creates a path parallel to a reference line when a farm field outline is set as a target outline and one side constituting the target outline is set as a reference line; An automatic driving control unit that performs automatic driving based on the created route; a reference line setting unit that selects, from a plurality of sides constituting the target outer shape based on a vehicle position and a traveling direction, a side that is located closer to the vehicle position and has an extension direction closer to the traveling direction as a candidate side of the reference line, and sets the side as the reference line if the side is equal to or longer than a predetermined side length threshold; An automatic driving system comprising:

13. An automatic driving system that automatically drives a work vehicle in a field, a route creation unit that creates a route parallel to a reference line when an outline of an unworked area of ​​the field is set as a target outline and one side constituting the target outline is set as a reference line; An automatic driving control unit that performs automatic driving based on the created route; a reference line setting unit that selects, from a plurality of sides constituting the target outer shape based on a vehicle position and a traveling direction, a side that is located closer to the vehicle position and has an extension direction closer to the traveling direction as a candidate side of the reference line, and sets the side as the reference line if the side is equal to or longer than a predetermined side length threshold; An automatic driving system comprising:

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