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

Abstract

To provide an automatic traveling method, an automatic traveling system, and an automatic traveling program that enable a work vehicle to automatically travel on a road outside a work area without interfering with the traveling of other vehicles.SOLUTION: A travel processing unit 111 automatically travels a work vehicle 10 along a target route R1 on a road Ra outside the field. A detection processing unit 122 detects a following vehicle 30 of the work vehicle 10 on the road Ra. A determination processing unit 214 determines whether or not the work vehicle 10 obstructs the traveling of the following vehicle 30 when the following vehicle 30 is detected. An evacuation processing unit 216 causes the work vehicle 10 to evacuate to a predetermined evacuation area Rb when it is determined that the work vehicle 10 hinders the traveling of the following vehicle 30.SELECTED DRAWING: Figure 1

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 automatically traveling within fields. Conventionally, technology has been proposed that enables the work vehicles to automatically travel and perform work in multiple fields (see, for example, Patent Document 1). For example, Patent Document 1 discloses a system that determines whether a road, such as a farm road that connects multiple fields, is a route on which the work vehicle can automatically travel, and restricts the automatic travel of the work vehicle if the route is not automatically travelable. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-029218 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, there are cases where a work vehicle travels between fields by traveling on roads such as public roads on which general vehicles can travel. For this reason, for example, when a work vehicle with a low travel speed travels on a public road, there is a risk that it will impede the travel of other general vehicles following the work vehicle. In other words, in the conventional technology, when a work vehicle automatically travels on a road outside a work area (e.g., a field), a problem occurs in which it impedes the travel of other vehicles.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving system, and an automatic driving program that enable a work vehicle to automatically drive on roads outside a work area without impeding the driving of other vehicles. [Means for solving the problem]

[0006] The automatic driving method of the present invention performs the following steps: automatically driving a work vehicle according to a target route on roads outside a work area; detecting a vehicle following the work vehicle on the road; when the following vehicle is detected, determining whether the work vehicle will obstruct the travel of the following vehicle; and when it is determined that the work vehicle will obstruct the travel of the following vehicle, causing the work vehicle to retreat to a predetermined retreat area.

[0007] The automated driving system according to the present invention is a system including a driving processing unit, a detection processing unit, a judgment processing unit, and an evacuation processing unit. The driving processing unit automatically drives a work vehicle along a target route on roads outside a work area. The detection processing unit detects a vehicle following the work vehicle on the road. When the judgment processing unit detects the following vehicle, it judges whether the work vehicle obstructs the travel of the following vehicle. When it is determined that the work vehicle obstructs the travel of the following vehicle, the evacuation processing unit causes the work vehicle to evacuate to a predetermined evacuation area.

[0008] The automatic driving program of the present invention is a program for causing one or more processors to execute the following operations: automatically driving a work vehicle according to a target route on roads outside a work area; detecting a vehicle following the work vehicle on the road; when the work vehicle is detected, determining whether the work vehicle will obstruct the movement of the following vehicle; and when it is determined that the work vehicle will obstruct the movement of the following vehicle, causing the work vehicle to retreat to a predetermined retreat area. 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 enable a work vehicle to automatically drive on roads outside a work area without impeding the driving of other vehicles. [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 target route for the work vehicle according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a setting screen displayed on the operation terminal according to the embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6A] FIG. 6A is a diagram showing an example of evacuation travel of the work vehicle according to the embodiment of the present invention. [Figure 6B] FIG. 6B is a diagram showing an example of evacuation travel of the work vehicle according to the embodiment of the present invention. [Figure 6C] FIG. 6C is a diagram showing an example of evacuation travel of the work vehicle according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram for explaining an example of a method for generating an evacuation route in the automated driving system according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 11] FIG. 11 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 12] FIG. 12 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of an operation 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 equipped with a configuration capable of automatic (autonomous) travel in a field, which is a work area, according to a preset target route. The working vehicle 10 can perform a predetermined task while automatically traveling in the field. Furthermore, the working vehicle 10 is equipped with a configuration capable of automatic travel on roads outside the field (outside the work area) according to a preset target route. The working vehicle 10 automatically travels in and outside the field according to a preset target route based on position information of the current position of the working vehicle 10 calculated by the positioning device 17.

[0014] For example, the work vehicle 10 performs a predetermined task while automatically traveling along a preset target route (work route) in the field F1 shown in FIG. 3. When the work in the field F1 is completed, the work vehicle 10 automatically travels along a preset target route R1 (travel route) on the road Ra to move to the field F2. The target route R1 includes a route from a travel start position S to a travel end position G. When the work vehicle 10 arrives at the field F2, it performs a predetermined task while automatically traveling along the preset target route (work route) in the field F2. The target route in the field F1 and the target route in the field F2 are appropriately set according to the respective tasks. In addition, the target route R1 on the road Ra is appropriately set according to the distance between the fields F1 and F2, the position and shape of the road Ra, and the like. In this embodiment, a target route R1 on a road Ra along which the work vehicle 10 travels from the field F1 to the field F2 is taken as an example, but the target route R1 may also be a route on the road Ra along which the work vehicle 10 travels from the field F2 to the field F1. Also, the target route R1 may be a route on the road Ra along which the work vehicle 10 travels from a storage facility (such as a barn) for the work vehicle 10 to the field F.

[0015] In addition, the road in the present invention refers to a road that is passable by general vehicles (such as passenger cars), such as a farm road, a forest road, a public road, a private road, and an expressway.

[0016] [Work vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a detection processing device 12, a traveling device 13, a work implement 14, a camera 15, an obstacle sensor 16, a positioning device 17, a communication unit 18, and a memory unit 19. The vehicle control device 11 is electrically connected to the traveling device 13, the work implement 14, the positioning device 17, and the memory unit 19. The vehicle control device 11 and the positioning device 17 may be capable of wireless communication. The camera 15 and the obstacle sensor 16 are electrically connected to the detection processing device 12.

[0017] The communication unit 18 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 18.

[0018] The storage unit 19 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various information. The storage unit 19 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute an automatic driving process (see FIG. 11) described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 19. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 19. The storage unit 19 also stores data of a target route generated in the operation terminal 20, etc.

[0019] 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.

[0020] 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, the positioning device 17 and other electrical components provided in the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0021] 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.

[0022] The working machine 14 is, for example, a grass cutter, a cultivator, a plow, a fertilizer applicator, or a seed sower, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various works using each of the working machines 14. In this embodiment, the working machine 14 will be described as a grass cutter.

[0023] For example, the work vehicle 10 is fitted with a mounted work implement 14 (grass cutter) and performs grass cutting work while traveling in the fields F1 and F2. Note that the work implement 14 is not limited to a mounted work implement fixed to the work vehicle 10, and may be a towed work implement towed by the work vehicle 10.

[0024] In addition, when the work vehicle 10 travels on the road Ra (see FIG. 3), it may travel with the working implement 14 attached, or it may travel with the working implement 14 detached. For example, when the work vehicle 10 performs mowing work in each of the fields F1 and F2, after the work vehicle 10 finishes mowing work in the field F1, it travels on the road Ra with the mower attached, moves to the field F2, and performs mowing work in the field F2. Note that, if the work vehicle 10 has a lifting function for the working implement 14, it travels on the road Ra with the working implement 14 raised. Also, for example, when different work is performed in each of the fields F1 and F2, the work vehicle 10, after the work in the field F1 is finished, travels on the road Ra with the working implement 14 detached, moves to the field F2, attaches the working implement 14, and performs work in the field F2.

[0025] The obstacle sensor 16 is a sensor that detects obstacles in a predetermined detection area using infrared rays, ultrasonic waves, etc. For example, the obstacle sensor 16 may be a lidar sensor (distance sensor) that can measure the distance to a measurement object (obstacle) in three dimensions using a laser, or may be a sonar sensor having multiple sonars that can measure the distance to a measurement object using ultrasonic waves. In this embodiment, as shown in FIG. 2, the work vehicle 10 is provided with an obstacle sensor 16F that is installed at the front of the body of the work vehicle 10 and detects obstacles in front of the work vehicle 10, and an obstacle sensor 16R that is installed at the rear of the body of the work vehicle 10 and detects obstacles behind the work vehicle 10.

[0026] Moreover, the obstacle sensor 16 is configured to be able to detect obstacles in a predetermined detection area that has been set in advance. For example, the obstacle sensor 16F is configured to be able to detect obstacles in a detection area that is approximately 10 m in front of the work vehicle 10 and approximately 4 m wide, and the obstacle sensor 16R is configured to be able to detect obstacles in a detection area that is approximately 10 m in rear of the work vehicle 10 and approximately 4 m wide. The obstacle sensors 16F and 16R detect vehicles, objects, people, etc. within the detection areas. The obstacle sensor 16 transmits measurement information to the detection processing device 12.

[0027] Note that the obstacle sensors 16 may be installed on the right side or left side of the work vehicle 10, on the work implement 14, etc., in addition to the front and rear of the work vehicle 10. The user (operator) can also install additional obstacle sensors 16 depending on the work content. Also, an operator who owns multiple work vehicles 10 can install obstacle sensors 16 in different positions on each work vehicle 10 depending on the work content.

[0028] The detection processing device 12 is capable of communicating with the obstacle sensors 16 by electrically connecting the obstacle sensors 16 to the work vehicle 10. When the detection processing device 12 is capable of communicating with the obstacle sensors 16, it acquires the number of obstacle sensors 16 and identification information (device information) of each obstacle sensor 16.

[0029] The camera 15 is a digital camera that captures an image of a subject and outputs it as digital image data. The camera 15 continuously captures images of the subject at a predetermined frame rate, generates frame images of a predetermined resolution, and transmits them sequentially to the detection processing device 12. In this embodiment, as shown in Fig. 2, the camera 15 is installed at the front of the body of the work vehicle 10 and captures images of the area in front of the work vehicle 10.

[0030] Specifically, a predetermined imaging range (imaging area) that can be imaged is set for the camera 15. For example, the camera 15 images an imaging area in front of the work vehicle 10. The camera 15 images the imaging area at a predetermined frame rate, and transmits the captured images to the detection processing device 12 one by one.

[0031] The detection processing device 12 is able to communicate with the cameras 15 by electrically connecting the cameras 15 to the work vehicle 10. When the detection processing device 12 is able to communicate with the cameras 15, it acquires the number of cameras 15 and identification information (device information) of each camera 15. The detection processing device 12 also outputs the acquired number information and identification information of the cameras 15 to the operation terminal 20. The operator can add cameras 15 or change the installation position.

[0032] In addition to the front of the work vehicle 10, the camera 15 may be installed at the rear, right side, left side, work implement 14, etc. of the work vehicle 10. The operator can also install additional cameras 15 depending on the work content. Also, an operator who owns multiple work vehicles 10 can install cameras 15 in different positions for each work vehicle 10 depending on the work content. The detection processing device 12 transmits detection results (determination results described below) according to measurement information from the obstacle sensor 16 and images captured by the camera 15 to the vehicle control device 11 and the operation terminal 20.

[0033] The handle 137 is an operating section that is operated by an 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 the operation of the handle 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed.

[0034] 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.

[0035] The positioning device 17 is a communication device including a positioning control unit 171, a memory unit 172, a communication unit 173, and a positioning antenna 174. For example, as shown in FIG. 2, the positioning device 17 is provided on the upper part of a cabin 138 in which an operator sits. The installation location of the positioning device 17 is not limited to the cabin 138. The positioning control unit 171, the memory unit 172, the communication unit 173, and the positioning antenna 174 of the positioning device 17 may be disposed in different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 17, and the positioning device 17 can operate even when the engine 131 is stopped. The positioning device 17 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0036] The positioning control unit 171 is a computer system including one or more processors and storage memories such as a non-volatile memory and a RAM. The storage unit 172 is a non-volatile memory that stores a program for causing the positioning control unit 171 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 172. The program may be downloaded from a server (not shown) to the positioning device 17 via the communication network N1 and stored in the storage unit 172.

[0037] The communication unit 173 is a communication interface for connecting the positioning device 17 to the communication network N1 by wire or wirelessly, and for executing data communication with an external device such as a base station server via the communication network N1 in accordance with a predetermined communication protocol.

[0038] The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0039] The positioning control unit 171 calculates the current position of the work vehicle 10 based on the GNSS signal received by the positioning antenna 174 from a satellite. For example, when the work vehicle 10 automatically travels in the field F1, the field F2, the road Ra, etc., when the positioning antenna 174 receives radio waves (e.g., transmission time, orbit information) transmitted from each of a plurality of satellites, the positioning control unit 171 calculates the distance between the positioning antenna 174 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 171 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 automatically travels using positioning information obtained by the RTK method.

[0040] The vehicle control device 11 and the detection processing device 12 have 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 and the detection processing device 12 control the work vehicle 10 by executing, with the CPU, various control programs that are stored in advance in the ROM or the storage unit 19.

[0041] The detection processing device 12 acquires measurement information from the obstacle sensor 16, and determines whether or not an obstacle is included in the detection area based on the measurement information. Specifically, as shown in FIG. 1, the detection processing device 12 includes various processing units such as an acquisition processing unit 121 and a detection processing unit 122. The detection processing device 12 functions as the various processing units by executing various processes according to the automatic driving program with a CPU. In addition, 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.

[0042] The acquisition processing unit 121 acquires measurement information from one or more obstacle sensors 16. Specifically, the acquisition processing unit 121 acquires measurement information of a detection area in front of the work vehicle 10 from the obstacle sensor 16F installed at the front of the work vehicle 10. For example, when an obstacle (vehicle, person, structure, etc.) is present within the detection area, the acquisition processing unit 121 acquires a measurement distance measured by the obstacle sensor 16. The acquisition processing unit 121 also acquires measurement information of a detection area behind the work vehicle 10 from the obstacle sensor 16R installed at the rear of the work vehicle 10. For example, when an obstacle (following vehicle, etc.) is present within the detection area, the acquisition processing unit 121 acquires a measurement distance measured by the obstacle sensor 16.

[0043] The acquisition processing unit 121 also acquires captured images from one or more cameras 15. For example, the acquisition processing unit 121 acquires captured images of an imaging area in front of the work vehicle 10 frame by frame from a camera 15 installed at the front of the work vehicle 10. The acquisition processing unit 121 stores the acquired captured images in the storage unit 19 together with the image capture time. The acquisition processing unit 121 also outputs image data of the acquired captured images to the operation terminal 20.

[0044] The detection processing unit 122 detects obstacles based on the measurement information acquired by the acquisition processing unit 121. Specifically, the detection processing unit 122 determines whether or not an obstacle is included in the detection area based on the measurement information. The detection processing unit 122 outputs the detection result (determination result) to the operation terminal 20. For example, the detection processing unit 122 detects obstacles (vehicles, people, etc.) in front of the work vehicle 10 and obstacles (vehicles, people, etc.) behind the work vehicle 10.

[0045] 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 17 and a target route set in advance.

[0046] 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.

[0047] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, when the driving processing unit 111 receives a driving start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. For example, when the operator presses a driving start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving start instruction to the work vehicle 10. When the driving processing unit 111 receives a driving start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. As a result, the work vehicle 10 starts automatic driving according to a target route in, for example, a field F1, and starts work by the work equipment 14. In addition, the work vehicle 10 starts automatic driving according to a target route in, for example, a field F2, and starts work by the work equipment 14. In addition, the work vehicle 10 can perform automatic driving according to a target route R1 (see FIG. 3) on a road Ra, for example. That is, the driving processing unit 111 can cause the work vehicle 10 to automatically drive according to the target route R1 on a road Ra outside the field. For example, the driving processing unit 111 causes the work vehicle 10 to automatically drive along a road Ra connecting the fields F1 and F2, following a target route R1 set on the road Ra. Each target route inside and outside the fields along which the work vehicle 10 will travel is generated, for example, in the operation terminal 20. The work vehicle 10 acquires route data corresponding to each target route from the operation terminal 20, and automatically drives along each target route.

[0048] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the operation terminal 20. For example, when the operator presses a driving stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving stop instruction to the work vehicle 10.

[0049] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when the detection processing unit 122 detects an obstacle. For example, when the detection processing unit 122 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 detection processing unit 122 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.

[0050] However, the work vehicle 10 may travel between fields by traveling on roads such as public roads on which general vehicles can travel. For this reason, when the work vehicle 10, which is set to a low travel speed, travels on a public road, there is a risk that it may impede the travel of other general vehicles following the work vehicle 10. For example, as shown in FIG. 3, when the work vehicle 10 travels on a public road Ra from the field F1 to the field F2, if a following vehicle 30 (e.g., a general vehicle) traveling faster than the work vehicle 10 approaches the work vehicle 10, the work vehicle 10 may impede the travel of the following vehicle 30. Thus, in the past, when the work vehicle 10 travels on a road outside the field, a problem occurs in which the travel of other vehicles (following vehicle 30) is impeded. In contrast, according to the automatic driving system 1 according to this embodiment, as shown below, it is possible to automatically drive the work vehicle 10 on a road outside the field without impeding the travel of other vehicles.

[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 to register various information (such as work vehicle information, field information, and work information described below) on the operation screen displayed on the display unit. The operator can also operate the operation unit to give instructions to the work vehicle 10 to start traveling, stop traveling, and the like. Furthermore, the operator can grasp the traveling state of the work vehicle 10 that automatically travels along each target route in the fields F1, F2, and road Ra from the traveling trajectory displayed on the operation terminal 20 at a location away from the work vehicle 10.

[0054] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 22 stores control programs such as an automatic driving program for causing the operation control unit 21 to execute an automatic driving process (see FIG. 11) described below. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The automatic driving 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.

[0055] The storage unit 22 also stores data such as work vehicle information, which is information relating to the work vehicle 10, and target route information, which is information relating to the target route.

[0056] The work vehicle information includes information such as the vehicle number, model, and installation position of the obstacle sensor 16 for each work vehicle 10. The vehicle number is identification information of the work vehicle 10. The model is the model of the work vehicle 10. The installation position of the obstacle sensor 16 is the installation position of the obstacle sensor 16 on the work vehicle 10.

[0057] 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.

[0058] The target route information includes information such as route name, field name, address, field area, and work time for each target route. The route name is the route name of the target route generated in the operation terminal 20. The field name is the name of the field to be worked on for which the target route is set. The address is the address of the field, and the field area is the area of ​​the field. The work time is the time required for the work vehicle 10 to work in the field.

[0059] When the target route corresponds to road Ra, the target route information includes information such as route name, address, travel distance, and travel time. The route name is the name of road Ra, and the address is the address of road Ra. The travel distance is the distance traveled by the work vehicle 10 on road Ra, for example, the distance from field F1 to field F2. The travel time is the time it takes for the work vehicle 10 to travel on road Ra, for example, the time required to move from field F1 to field F2.

[0060] The storage unit 22 may store the target route information for one target route, or may store the target route information for multiple target routes. For example, when a specific operator generates multiple target routes for one or multiple fields owned by the operator, the target route information for each target route is stored in the storage unit 22. One target route may be set for one field, or multiple target routes may be set. In this embodiment, the storage unit 22 stores target route information corresponding to the target route traveling through the field F1, target route information corresponding to the target route traveling through the field F2, and target route information corresponding to the target route R1 traveling on the road Ra (see FIG. 3). The automatic driving system of the present invention includes at least target route information corresponding to the target route R1 traveling on the road Ra.

[0061] As 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). In this case, the operation control unit 21 may acquire the information from the server and execute various processes such as the automatic driving process (see FIG. 11) described below.

[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, a route generation processing unit 212, an output processing unit 213, a determination processing unit 214, a search processing unit 215, and an evacuation processing unit 216. 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. 4, 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 174 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 vehicle speed and engine speed of the work vehicle 10 while working, and the vehicle 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 work start position where the work will begin and the work end position where the work will end, 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 174 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] In addition, the setting processing unit 211 is configured to be able to set, as work information, the presence or absence of cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the skip number which is the number of work paths to skip when the work vehicle 10 turns on the headland, the width of the headland, and the width of the non-cultivated land, etc.

[0069] Furthermore, the setting processing unit 211 sets information such as the driving start position S and driving end position G (see FIG. 3) when driving on a road Ra, and the driving direction, by performing an operation to register the information on the operation terminal 20. For example, when the operator specifies the driving start position and driving end position on a map displayed on the operation screen, the setting processing unit 211 sets the specified positions as the driving start position S and driving end position G.

[0070] Based on each of the setting information, the route generation processing unit 212 generates a target route along which the work vehicle 10 will automatically travel. Specifically, the route generation processing unit 212 generates target routes (work routes) within the fields F1 and F2 based on the work start position and work end position registered in the field settings.

[0071] The route generation processing unit 212 also generates a target route R1 (see FIG. 3) that connects the travel start position S and the travel end position G on the road Ra based on the travel start position S and the travel end position G specified by the operator. Specifically, the route generation processing unit 212 generates a target route R1 that is the shortest travel distance or travel time from the travel start position S to the travel end position G. The route generation processing unit 212 also generates the target route R1 based on information about the work vehicle 10 (vehicle width, travel speed, turning radius, information about the work implement 14, etc.) and information about the road (width, speed limit, road surface condition, etc.). The route generation processing unit 212 stores each route data of the generated target route corresponding to the field F1, the target route corresponding to the field F2, and the target route R1 corresponding to the road Ra in the storage unit 22. The target route R1 may be generated by connecting the work end position set in the field F1 and the work start position set in the field F2.

[0072] The output processing unit 213 outputs route data of the target route to the work vehicle 10. For example, when the operator selects field F1 on the operation screen and presses the work start button (start button), the output processing unit 213 outputs route data of the target route corresponding to field F1 to the work vehicle 10. Also, for example, when the operator selects field F2 on the operation screen and presses the work start button (start button), the output processing unit 213 outputs route data of the target route corresponding to field F2 to the work vehicle 10.

[0073] Furthermore, for example, when the operator selects road Ra on the operation screen D2 (see FIG. 5) and presses the start button, the output processing unit 213 outputs to the work vehicle 10 the route data of the target route R1 corresponding to the road Ra.

[0074] The work vehicle 10 is configured such that route data for a target route generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the memory unit 19, and the work vehicle 10 is capable of autonomously traveling along the target route while detecting the current position of the work vehicle 10 by the positioning antenna 174. The current position of the work vehicle 10 normally coincides with the position of the positioning antenna 174.

[0075] The work vehicle 10 is also configured to be able to automatically travel within the field when the current position coincides with a work start position within the field. The work vehicle 10 is also configured to be able to automatically travel outside the field when the current position coincides with a travel start position S (see FIG. 3) outside the field.

[0076] For example, when the current position of the work vehicle 10 coincides with the travel start position S, and the operator presses the start button on the operation screen D2 (see FIG. 5) to give a travel start instruction, the travel processing unit 111 starts automatic travel on the road Ra. That is, the operation control unit 21 permits automatic travel of the work vehicle 10 on the condition that the current position of the work vehicle 10 coincides with the travel start position S. Note that the conditions for permitting automatic travel of the work vehicle 10 are not limited to the above conditions.

[0077] The driving processing unit 111 of the work vehicle 10 automatically drives the work vehicle 10 from a driving start position S to a driving end position G on the road Ra based on the target route R1 acquired from the operation terminal 20. In addition, while the work vehicle 10 is automatically driving, the operation control unit 21 is able to receive the status of the work vehicle 10 (position, driving speed, etc.) from the work vehicle 10 and display it on the operation display unit 23.

[0078] When the work vehicle 10 is automatically traveling on road Ra, the judgment processing unit 214 determines whether the work vehicle 10 is obstructing the travel of the following vehicle 30 when it detects a vehicle (following vehicle 30) traveling behind the work vehicle 10.

[0079] Specifically, the determination processing unit 214 detects the vehicle 30 following the work vehicle 10 when the work vehicle 10 is automatically traveling on the road Ra. For example, when an object detected by the detection processing device 12 based on the measurement information of the obstacle sensor 16R (see FIG. 2) moves in the same direction as the traveling direction of the work vehicle 10, moves in the same lane as the traveling lane of the work vehicle 10, and the characteristics of the object, such as its external shape, have the characteristics of a vehicle, the determination processing unit 214 determines that the object is the vehicle 30 following the work vehicle 10.

[0080] Further, the determination processing unit 214 determines whether or not the work vehicle 10 will obstruct the travel of the following vehicle 30 based on at least one of the detected travel speed of the following vehicle 30 and the distance between the following vehicle 30 and the work vehicle 10. Specifically, the determination processing unit 214 determines whether or not the work vehicle 10 is likely to obstruct the travel of the following vehicle 30 based on the travel speed of the following vehicle 30 calculated from the measurement information of the obstacle sensor 16R and the distance from the work vehicle 10 to the following vehicle 30. The determination processing unit 214 may calculate the travel speed of the following vehicle 30 and the distance from the work vehicle 10 to the following vehicle 30 based on the travel speed of the work vehicle 10 and the captured image of the camera 15. Furthermore, when the work vehicle 10 can acquire position information (latitude, longitude, etc.) of the following vehicle 30 via the communication unit 18, the determination processing unit 214 may calculate the distance between the following vehicle 30 and the work vehicle 10 based on the difference between the position of the work vehicle 10 and the position of the following vehicle 30.

[0081] For example, when a following vehicle 30 traveling faster than the work vehicle 10 approaches the work vehicle 10 and the distance between them becomes within 10 m, the following vehicle 30 enters the detection area of ​​the obstacle sensor 16R, and the work vehicle 10 detects the following vehicle 30. In this case, the following vehicle 30 travels behind the work vehicle 10 at a reduced speed to the same speed as the work vehicle 10, and the work vehicle 10 comes into a state where it obstructs the travel of the following vehicle 30. Therefore, the determination processing unit 214 calculates the travel speed of the following vehicle 30 when it detects the following vehicle 30 within a predetermined distance (e.g., 10 m) from the work vehicle 10, and determines that the work vehicle 10 obstructs the travel of the following vehicle 30 when the travel speed of the following vehicle 30 continues to be equal to or greater than the travel speed of the work vehicle 10 for a predetermined period of time. In addition, the judgment processing unit 214 may determine that the work vehicle 10 is obstructing the travel of the following vehicle 30 when the following vehicle 30 continues to travel within a predetermined distance from the work vehicle 10 for a predetermined period of time.

[0082] Furthermore, the determination processing unit 214 may determine whether the work vehicle 10 obstructs the travel of the following vehicle 30 based on both the distance between the following vehicle 30 and the work vehicle 10 and the travel speed of the following vehicle 30. For example, the determination processing unit 214 determines that the work vehicle 10 obstructs the travel of the following vehicle 30 when the travel speed of the following vehicle 30 becomes equal to or greater than the travel speed of the work vehicle 10 and the distance between the following vehicle 30 and the work vehicle 10 becomes equal to or less than a predetermined distance. In other words, when the following vehicle 30 of the work vehicle 10 continues to travel at a low speed equal to that of the work vehicle 10 for a predetermined period of time, the determination processing unit 214 determines that the work vehicle 10 obstructs the travel of the following vehicle 30.

[0083] Here, when the work vehicle 10 is traveling on the target route R1 of the road Ra, it is possible that the following vehicle 30 deviates from the travel path (travel lane) of the work vehicle 10 to another route (or travel lane). For example, as shown in FIG. 3, when the work vehicle 10 is traveling straight on the road Ra along the target route R1, the following vehicle 30 may turn right or left at an intersection. In this case, the work vehicle 10 will not obstruct the travel of the following vehicle 30. Therefore, when the following vehicle 30 outputs predetermined non-obstruction information, the determination processing unit 214 determines that the work vehicle 10 will not obstruct the travel of the following vehicle 30. The non-obstruction information is, for example, information indicating that the following vehicle 30 will change direction in a direction different from the travel direction of the work vehicle 10, information indicating that the following vehicle 30 will overtake the work vehicle 10, and the like, for example, information of a turn signal indicating a right turn, a left turn, or overtaking. The determination processing unit 214 acquires the non-obstruction information based on an image captured by the camera 15 when the camera 15 is installed at the rear of the work vehicle 10, or based on an image captured by a fixed camera when a fixed camera is installed on the road Ra. Furthermore, when route guidance information for the following vehicle 30 can be acquired, the determination processing unit 214 may acquire the non-obstruction information from the route guidance information.

[0084] Even if the detected traveling speed of the following vehicle 30 is close to the traveling speed of the work vehicle 10 and the distance between the work vehicle 10 and the following vehicle 30 is less than a set distance (e.g., 0 m to 10 m), the judgment processing unit 214 judges that the work vehicle 10 does not obstruct the traveling of the following vehicle 30 when the non-obstruction information is acquired.

[0085] If the judgment processing unit 214 determines that the work vehicle 10 will obstruct the travel of the following vehicle 30, the search processing unit 215 searches for an evacuation area Rb for the work vehicle 10 to evacuate, and the evacuation processing unit 216 causes the work vehicle 10 to evacuate within the evacuation area Rb.

[0086] For example, when the work vehicle 10 obstructs the travel of the following vehicle 30 (see FIG. 6A), the work vehicle 10 travels along the evacuation route R2 and enters the evacuation area Rb, causing the following vehicle 30 to overtake the work vehicle 10 (see FIG. 6B). When the following vehicle 30 overtakes the work vehicle 10, the work vehicle 10 returns to the target route R1 (see FIG. 6C). This prevents the travel of the following vehicle 30 from being obstructed. Specific configurations of the search processing unit 215 and the evacuation processing unit 216 for causing the work vehicle 10 to travel evacuation are described below.

[0087] The search processing unit 215 searches for an evacuation area Rb for the work vehicle 10 to evacuate when the judgment processing unit 214 judges that the work vehicle 10 will obstruct the travel of the following vehicle 30. The evacuation area Rb is, for example, a waiting area adjacent to the travel lane of the road Ra, a roadside strip, a road shoulder, an emergency parking area, a parking lot, a climbing lane, a farm field, etc., and is a space where the work vehicle 10 can temporarily evacuate. The evacuation area Rb shown in FIG. 6A shows an example of a waiting area. The evacuation area Rb shown in FIG. 6A has at least a width W1 that the work vehicle 10 can enter and a length W2 that is equal to or greater than the stopping distance required for the traveling work vehicle 10 to stop.

[0088] The search processing unit 215 searches for the evacuation area Rb based on the measurement information of the obstacle sensor 16F and the captured image of the camera 15. For example, when the work vehicle 10 is automatically traveling along the target route R1, the search processing unit 215 identifies the evacuation area Rb based on the distance to the step between the roadway and the sidewalk measured by the obstacle sensor 16F, the captured image captured by the camera 15, and the like.

[0089] The search processing unit 215 searches for the evacuation area Rb based on at least one of the vehicle width of the work vehicle 10 and the lateral width of the work implement 14 attached to the work vehicle 10. For example, when the work vehicle 10 is not equipped with a work implement 14, the search processing unit 215 searches for the evacuation area Rb based on the vehicle width of the work vehicle 10. On the other hand, when the work vehicle 10 is equipped with a work implement 14 that is larger than the vehicle width of the work vehicle 10, the search processing unit 215 searches for the evacuation area Rb based on the lateral width of the work implement 14.

[0090] In another embodiment, the search processing unit 215 may search for the evacuation area Rb based on pre-registered map information. For example, when map information of a predetermined area including the fields F1 and F2 is stored in the storage unit 22, or when the map information can be acquired from a server capable of data communication with the operation terminal 20, the search processing unit 215 acquires the map information and searches for the evacuation area Rb corresponding to the current position of the work vehicle 10. Also, the evacuation area Rb may be registered in advance in the map information.

[0091] The evacuation processing unit 216 causes the work vehicle 10 to retreat to the evacuation area Rb when the determination processing unit 214 determines that the work vehicle 10 will obstruct the travel of the following vehicle 30.

[0092] Specifically, when the search processing unit 215 detects the evacuation area Rb, the evacuation processing unit 216 generates an evacuation route R2 (see FIG. 6A) for evacuating the work vehicle 10. The evacuation route R2 includes a route that leads the work vehicle 10 from the target route R1 into the evacuation area Rb, a route within the evacuation area Rb, and a route that leads the work vehicle 10 from the evacuation area Rb to the target route R1. For example, the evacuation route R2 shown in FIG. 6A includes a first route R21 (first route of the present invention) that continues from the target route R1 into the evacuation area Rb, a second route R22 (second route of the present invention) within the evacuation area Rb, and a third route R23 (third route of the present invention) that continues from the evacuation area Rb to the target route R1. In addition, each of the first route R21 and the third route R23 includes a turning route, and the second route R22 includes a straight route. The turning path is set based on the vehicle width, traveling speed, and turning radius of the work vehicle 10, the presence or absence and lateral width of the work implement 14, etc.

[0093] Furthermore, the evacuation processing unit 216 sets the travel speed to a speed lower than the travel speed of the target route R1 in order to ensure safety during evacuation travel of the work vehicle 10. For example, if the maximum speed of the target route R1 is set to 30 km / h, the evacuation processing unit 216 sets the maximum speed of the evacuation route R2 to 15 km / h.

[0094] Here, an example of a method for generating the evacuation route R2 will be described with reference to FIG. 7. First, the evacuation processing unit 216 draws a straight line L1 parallel to the target route R1 at a position ((W1) / 2) half the width W1 of the evacuation area Rb, and sets a second route R22 (straight route) on the straight line L1. The evacuation processing unit 216 also draws a straight line L2 connecting the target route R1 and the straight line L1 such that the angle θ1 between the moving direction of the target route R1 and the direction of the straight line L1 is less than 90 degrees. The evacuation processing unit 216 also draws a straight line L3 connecting the target route R1 and the straight line L2 such that the angle θ2 between the moving direction of the target route R1 and the direction of the straight line L3 is less than 90 degrees. The evacuation processing unit 216 may set the angle θ1 and the angle θ2 to the same angle, or may set them to different angles. Additionally, the evacuation processing unit 216 may set the angles θ1 and θ2 in accordance with the travel speed of the work vehicle 10. The shape of the area surrounded by the target route R1, the straight line L1, the straight line L2, and the straight line L3 is a trapezoid.

[0095] The evacuation processing unit 216 generates an evacuation route R2 that passes through the straight lines L2, L1, and L3 and includes a turning route having a predetermined turning radius at the connecting portion of each straight line according to the travel speed of the work vehicle 10. That is, the evacuation processing unit 216 generates an evacuation route R2 that includes a first route R21 that is connected to the target route R1 and includes a turning route that enters the evacuation area Rb, a second route R22 that is connected to the first route R21 and includes a straight route parallel to the target route R1 within the evacuation area Rb, and a third route R23 that is connected to the second route R22 and includes a turning route that returns to the target route R1. The evacuation route R2 is an example of an evacuation route of the present invention.

[0096] The evacuation processing unit 216 outputs route data of the generated evacuation route R2 to the work vehicle 10. For example, when the determination processing unit 214 determines that the work vehicle 10 will obstruct the travel of the following vehicle 30, the evacuation processing unit 216 generates an evacuation route R2 for evacuating the work vehicle 10 to the evacuation area Rb, and outputs the route data of the generated evacuation route R2 and an evacuation instruction to the work vehicle 10. When the work vehicle 10 acquires the route data of the evacuation route R2 and the evacuation instruction, the travel processing unit 111 starts automatic travel (evacuation travel) according to the evacuation route R2.

[0097] Here, as shown in FIG. 8, the operation control unit 21 may display a message M1 on the operation screen D2 indicating that the following vehicle 30 has been detected and that an evacuation route R2 has been generated. This allows the operator to understand, on the operation terminal 20, that the following vehicle 30 is approaching and the contents of the evacuation route R2. Note that, if a camera 15 is installed at the rear of the work vehicle 10, the operation control unit 21 may display a rear image on the operation screen D2 (see FIG. 8). A captured image of the detected following vehicle 30 is displayed on the operation screen D2 shown in FIG. 8. This allows the operator to check the following vehicle 30 on the operation terminal 20.

[0098] According to the above configuration, when the following vehicle 30 approaches behind the work vehicle 10, the work vehicle 10 can be evacuated to the evacuation area Rb, thereby preventing the following vehicle 30 from being hindered from traveling.

[0099] However, when the work vehicle 10 enters the evacuation area Rb, if there are obstacles such as pedestrians and objects (vehicles, etc.) in the evacuation area Rb, it may be difficult for the work vehicle 10 to enter the evacuation area Rb. In another embodiment, the evacuation processing unit 216 may determine whether or not it is possible to allow the work vehicle 10 to enter the evacuation area Rb based on the detection result of the obstacle in the evacuation area Rb. Then, when the evacuation processing unit 216 determines that it is possible to allow the work vehicle 10 to enter the evacuation area Rb, the work vehicle 10 is evacuated to the evacuation area Rb. On the other hand, when the evacuation processing unit 216 determines that it is not possible to allow the work vehicle 10 to enter the evacuation area Rb, the work vehicle 10 is not evacuated to the evacuation area Rb, but maintains traveling on the target route R1 or temporarily stops on the road Ra. The obstacles within the evacuation area Rb include moving objects that are not obstacles before the work vehicle 10 enters the evacuation area Rb, but become obstacles when the work vehicle 10 enters the evacuation area Rb.

[0100] For example, the detection processing unit 122 detects an obstacle (vehicle, person, etc.) within the evacuation area Rb based on images captured by the camera 15 mounted on the work vehicle 10, images captured by a fixed camera installed within the evacuation area Rb, measurement information from the obstacle sensor 16, etc., and the evacuation processing unit 216 determines whether or not it is possible to allow the work vehicle 10 to enter the evacuation area Rb based on the detection results of the detection processing unit 122.

[0101] For example, when no obstacle is present in the evacuation area Rb, the evacuation processing unit 216 determines that the work vehicle 10 can enter the evacuation area Rb, and causes the work vehicle 10 to evacuate to the evacuation area Rb. Also, for example, when an obstacle is present in the evacuation area Rb, the evacuation processing unit 216 determines that the work vehicle 10 cannot enter the evacuation area Rb, and does not cause the work vehicle 10 to evacuate to the evacuation area Rb.

[0102] Furthermore, for example, when a pedestrian is present in the evacuation area Rb and the pedestrian is walking in a direction away from the evacuation area Rb, the evacuation processing unit 216 determines that it is possible for the work vehicle 10 to enter the evacuation area Rb, and causes the work vehicle 10 to evacuate to the evacuation area Rb. Furthermore, for example, when a pedestrian is present outside the evacuation area Rb and the pedestrian is walking in a direction toward the evacuation area Rb, the evacuation processing unit 216 determines that it is not possible for the work vehicle 10 to enter the evacuation area Rb, and does not cause the work vehicle 10 to evacuate to the evacuation area Rb.

[0103] The evacuation processing unit 216 may determine whether or not to allow the work vehicle 10 to enter the evacuation area Rb based on the judgment of the operator in addition to the detection result of the detection processing unit 122. For example, when the detection processing unit 122 detects an obstacle in the evacuation area Rb and the operator determines that it is not difficult to enter the evacuation area Rb and performs an operation to permit the evacuation travel, the evacuation processing unit 216 causes the work vehicle 10 to evacuate into the evacuation area Rb. On the other hand, when the detection processing unit 122 detects an obstacle in the evacuation area Rb and the operator determines that it is difficult to enter the evacuation area Rb and performs an operation to cancel the evacuation travel, the evacuation processing unit 216 does not cause the work vehicle 10 to evacuate to the evacuation area Rb. In addition, even if the detection processing unit 122 does not detect an obstacle within the evacuation area Rb, if the operator determines that it is difficult to enter the evacuation area Rb and performs an operation to stop the evacuation drive, the evacuation processing unit 216 will not evacuate the work vehicle 10 to the evacuation area Rb.

[0104] The evacuation processing unit 216 may determine whether or not to allow the work vehicle 10 to enter the evacuation area Rb based solely on the judgment of the operator. For example, the operator visually checks the safety of the evacuation area Rb and issues an instruction for evacuation travel.

[0105] In this way, the evacuation processing unit 216 may be configured to evacuate the work vehicle 10 into the evacuation area Rb when safety within the evacuation area Rb is confirmed, and not to evacuate the work vehicle 10 into the evacuation area Rb when safety within the evacuation area Rb cannot be confirmed.

[0106] Furthermore, the operation control unit 21 may display a message M2 indicating that the safety of the evacuation area Rb has been confirmed and that the work vehicle 10 will be evacuated to the evacuation area Rb, as shown on the operation screen D2 in Fig. 9. This allows the operator to understand on the operation terminal 20 that the work vehicle 10 will be evacuated safely to the evacuation area Rb.

[0107] The work vehicle 10 that has retreated to the retreat area Rb returns to the target route R1 on the road Ra after the following vehicle 30 has overtaken the work vehicle 10 (see FIGS. 6B and 6C). Specifically, the work vehicle 10 automatically travels along the retreat route R2, and then continues to automatically travel along the target route R1 that connects to the retreat route R2.

[0108] Here, the evacuation processing unit 216 may determine whether or not it is possible to return the work vehicle 10 to the road Ra based on the detection result of an obstacle on the road Ra. Then, when the evacuation processing unit 216 determines that it is possible to return the work vehicle 10 to the road Ra, it returns the work vehicle 10 to the target route R1. That is, when the evacuation processing unit 216 determines that the work vehicle 10 does not obstruct the travel of the following vehicle 30 after the work vehicle 10 has evacuated to the evacuation area Rb, it causes the work vehicle 10 to return to the target route R1 from the evacuation area Rb (evacuation route R2). On the other hand, when the evacuation processing unit 216 determines that it is not possible to return the work vehicle 10 to the road Ra, it causes the work vehicle 10 to travel or stop in the evacuation area Rb without returning to the target route R1.

[0109] The operation control unit 21 may display a message M3 indicating that the safety of the road Ra has been confirmed and that the work vehicle 10 will return to the target route R1, as shown in the operation screen D2 of Fig. 10. This allows the operator to understand on the operation terminal 20 that the work vehicle 10 will safely return to the target route R1 on the road Ra.

[0110] In this way, the evacuation processing unit 216 may be configured to return the work vehicle 10 from the evacuation area Rb to the target route R1 of the road Ra when the safety of the road Ra is confirmed, and to have the work vehicle 10 wait (drive or stop) in the evacuation area Rb when the safety of the road Ra cannot be confirmed.

[0111] In another embodiment, the work vehicle 10 may turn on or flash a turn indicator mounted on the work vehicle 10 when retreating from the target route R1 to the retreat area Rb. For example, the work vehicle 10 flashes the left turn indicator when retreating to the retreat area Rb on the left side of the road Ra. Also, the work vehicle 10 flashes the right turn indicator when returning from the retreat area Rb to the road Ra on the right side.

[0112] In another embodiment, the evacuation processing unit 216 may notify specific information indicating that the work vehicle 10 is making an evacuation run when the work vehicle 10 is made to evacuate to the evacuation area Rb. For example, when the work vehicle 10 evacuates from the target route R1 to the evacuation area Rb, and when the work vehicle 10 returns from the evacuation area Rb to the target route R1, a specific sound (warning sound, buzzer sound, etc.) may be output to the outside from a speaker (horn) mounted on the work vehicle 10. In this way, by flashing the turn indicator or outputting a sound from the speaker, it is possible to call attention to the evacuation run of the work vehicle 10 to those in the vicinity. Information used to call attention to those in the vicinity, such as flashing or lighting the turn indicator, or sound emitted from a speaker, is an example of the specific information of the present invention.

[0113] 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.

[0114] In another embodiment, the functions of the detection processing device 12 of the work vehicle 10 described above may be included in the operation control unit 21 of the operation terminal 20. That is, for example, the operation control unit 21 may acquire captured images and measurement information from the camera 15 and obstacle sensor 16 of the work vehicle 10, and execute processing to detect obstacles. In addition, each function of the detection processing device 12 (acquisition processing unit 121 and detection processing unit 122) may be included in the vehicle control device 11 of the work vehicle 10.

[0115] [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. 11. For example, the automatic driving process is started by the vehicle control device 11, the detection processing device 12, and the operation control unit 21 when the operator starts an operation to set a target route for the work vehicle 10.

[0116] 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, the detection processing device 12, and the operation control unit 21 execute 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.

[0117] In step S1, the operation control unit 21 of the operation terminal 20 registers various setting information. Specifically, the operation control unit 21 sets and registers information about the work vehicle 10 (work vehicle information), information about the field (field information), and information about a task (e.g., mowing task) (task information) based on the setting operation of the operator. The operation control unit 21 also sets and registers information such as the travel start position S and travel end position G, and the travel direction when traveling on a road outside the field. Here, the operation control unit 21 sets and registers the travel start position S and travel end position G (see FIG. 3) when the work vehicle 10 travels on the road Ra for moving from the field F1 to the field F2.

[0118] Next, in step S2, the operation control unit 21 generates a target route R1 based on the setting information. For example, the operation control unit 21 generates a target route R1 (see FIG. 3) that connects the travel start position S and the travel end position G on the road Ra based on the travel start position S and the travel end position G specified by the operator. The operation control unit 21 stores route data of the target route R1 corresponding to the road Ra in the storage unit 22.

[0119] Next, in step S3, the vehicle control device 11 of the work vehicle 10 determines whether or not it has received a travel start instruction from the operation terminal 20. For example, when the operator presses the start button on the operation screen D2 (see FIG. 5) of the operation terminal 20, the operation terminal 20 outputs route data of the target route R1 corresponding to the road Ra and a travel start instruction to the work vehicle 10. When the vehicle control device 11 receives the route data and the travel start instruction from the operation terminal 20 (S3: Yes), the process proceeds to step S4. The vehicle control device 11 waits until it receives the route data and the travel start instruction from the operation terminal 20 (S3: No).

[0120] Next, in step S4, the vehicle control device 11 executes an automatic driving process according to the target route R1 corresponding to the route data, whereby the work vehicle 10 starts automatic driving on the road Ra according to the target route R1.

[0121] Next, in step S5, the operation control unit 21 judges whether or not a vehicle (following vehicle 30) traveling behind the work vehicle 10 has been detected when the work vehicle 10 is automatically traveling on the road Ra. The operation control unit 21 judges whether or not the following vehicle 30 has been detected based on the detection result of the detection processing device 12 of the work vehicle 10. For example, when an object detected by the detection processing device 12 based on the measurement information of the obstacle sensor 16R (see FIG. 2) moves in the same direction as the traveling direction of the work vehicle 10, moves in the same lane as the traveling lane of the work vehicle 10, and the characteristics of the object, such as its external shape, have the characteristics of a vehicle, the operation control unit 21 detects the object as the following vehicle 30 of the work vehicle 10. When the operation control unit 21 detects the following vehicle 30 (S5: Yes), the process proceeds to step S6. On the other hand, when the operation control unit 21 does not detect the following vehicle 30 (S5: No), the process proceeds to step S13.

[0122] In step S6, the operation control unit 21 determines whether the work vehicle 10 will obstruct the travel of the following vehicle 30. The operation control unit 21 determines whether the work vehicle 10 will obstruct the travel of the following vehicle 30 based on the travel speed of the following vehicle 30 and the distance between the following vehicle 30 and the work vehicle 10. For example, the operation control unit 21 determines that the work vehicle 10 will obstruct the travel of the following vehicle 30 when the detected travel speed of the following vehicle 30 is close to the travel speed of the work vehicle 10 and the distance from the work vehicle 10 to the following vehicle 30 is equal to or less than a set distance (e.g., 10 m).

[0123] Note that even if the detected travel speed of the following vehicle 30 is close to the travel speed of the work vehicle 10 and the distance from the work vehicle 10 to the following vehicle 30 is less than a set distance, when the operation control unit 21 acquires the non-obstruction information (such as turn signal information indicating a right turn, left turn, or overtaking), the operation control unit 21 may determine that the work vehicle 10 will not obstruct the travel of the following vehicle 30. If it is determined that the work vehicle 10 will obstruct the travel of the following vehicle 30 (S6: Yes), the process proceeds to step S7. On the other hand, if it is determined that the work vehicle 10 will not obstruct the travel of the following vehicle 30 (S6: No), the process proceeds to step S13.

[0124] In step S7, the operation control unit 21 determines whether or not the evacuation area Rb has been detected. Specifically, the operation control unit 21 searches for the evacuation area Rb based on the measurement information of the obstacle sensor 16F and the captured image of the camera 15. The operation control unit 21 also searches for the evacuation area Rb based on at least one of the vehicle width of the work vehicle 10 and the lateral width of the work implement 14 attached to the work vehicle 10. If the operation control unit 21 detects the evacuation area Rb (S7: Yes), the process proceeds to step S8. On the other hand, if the operation control unit 21 does not detect the evacuation area Rb (S7: No), the process proceeds to step S71.

[0125] In step S8, the operation control unit 21 generates an evacuation route R2 (see FIG. 6A) for evacuating the work vehicle 10. For example, the operation control unit 21 generates the evacuation route R2 (see FIG. 7) based on the width W1 and length W2 of the evacuation area Rb, the travel speed of the work vehicle 10, the turning radius of the work vehicle 10, the vehicle width of the work vehicle 10, the width of the work implement 14, etc. The evacuation route R2 is, for example, a detour route connecting a first point on the target route R1 and a second point on the travel direction side of the first point.

[0126] Next, in step S9, the operation control unit 21 determines whether or not it is possible to allow the work vehicle 10 to enter the evacuation area Rb. That is, the operation control unit 21 determines whether or not the evacuation area Rb is safe. For example, when there are no obstacles (vehicles, people, etc.) in the evacuation area Rb, the operation control unit 21 determines that it is possible to allow the work vehicle 10 to enter the evacuation area Rb. In this case, the process proceeds to step S10. On the other hand, when there is an obstacle in the evacuation area Rb, the operation control unit 21 determines that it is not possible to allow the work vehicle 10 to enter the evacuation area Rb. In this case, the process proceeds to step S71.

[0127] In step S10, the operation control unit 21 causes the work vehicle 10 to travel to evacuate into the evacuation area Rb along the evacuation route R2 (see Figs. 6A and 6B). After step S10, the process proceeds to step S11.

[0128] In step S71, the operation control unit 21 continues the automatic driving of the work vehicle 10 on the target route R1. In this case, the operation control unit 21 may continue the automatic driving while turning on or blinking the emergency stop light of the work vehicle 10. After step S71, the process proceeds to step S5. When returning to step S5, for example, the operation control unit 21 determines that the automatic driving of the work vehicle 10 will continue and will continue to hinder the driving of the following vehicle 30 (S5: Yes, S6: Yes), and then detects an enterable evacuation area Rb (S7: Yes, S9: Yes), causes the work vehicle 10 to evacuate into the evacuation area Rb (S10). In this way, when the operation control unit 21 detects the following vehicle 30, it causes the work vehicle 10 to continue the automatic driving until it detects the enterable evacuation area Rb.

[0129] As another embodiment of step S71, the operation control unit 21 may temporarily stop the work vehicle 10. For example, the operation control unit 21 outputs a stop instruction to the work vehicle 10 to temporarily stop the automatic driving on the road Ra. The operation control unit 21 may turn on or flash the emergency stop lights when temporarily stopping the work vehicle 10. This allows the following vehicle 30 to check the surrounding environment, such as oncoming vehicles, and to overtake the work vehicle 10. In this case, after step S71, the process may proceed to step S11.

[0130] In step S11, the operation control unit 21 determines whether or not it is possible to return the work vehicle 10 to the target route R1. That is, the operation control unit 21 determines whether or not the road Ra is safe. For example, when there is no obstacle (following vehicle 30) on the road Ra, the operation control unit 21 determines that it is possible to return the work vehicle 10 to the target route R1. In this case, the process proceeds to step S12. The operation control unit 21 causes the work vehicle 10 to wait in the evacuation area Rb until it is confirmed that the road Ra is safe (S11: No).

[0131] In step S12, the operation control unit 21 causes the work vehicle 10 to return from the evacuation route R2 to the target route R1 (see FIG. 6C). Specifically, the operation control unit 21 outputs a return instruction to the work vehicle 10 to return from the evacuation route R2 to the target route R1. Upon receiving the return instruction, the work vehicle 10 returns to the target route R1 and resumes automatic traveling according to the target route R1.

[0132] Next, in step S13, the vehicle control device 11 determines whether or not the work vehicle 10 has arrived at the travel end position G. If the work vehicle 10 has arrived at the travel end position G (S13: Yes), the process ends. On the other hand, if the work vehicle 10 has not arrived at the travel end position G (S13: No), the process returns to step S5, and the above-mentioned process is repeated.

[0133] In this way, the vehicle control device 11, the detection processing device 12, and the operation control unit 21 determine the presence or absence of the following vehicle 30 from when the work vehicle 10 starts automatic driving at the driving start position S until it arrives at the driving end position G, and execute processing to make the work vehicle 10 evacuate when the following vehicle 30 is detected. In this way, the automatic driving system 1 executes the automatic driving processing.

[0134] As described above, the automated driving system 1 according to this embodiment automatically drives the work vehicle 10 along the target route R1 on the road Ra outside the field, and detects the vehicle 30 following the work vehicle 10 on the road Ra. When the automated driving system 1 detects the following vehicle 30, it determines whether the work vehicle 10 will obstruct the travel of the following vehicle 30, and when it determines that the work vehicle 10 will obstruct the travel of the following vehicle 30, it causes the work vehicle 10 to retreat to a predetermined retreat area Rb.

[0135] According to the above configuration, for example, when a work vehicle 10 with a travel speed set to low travels on a road Ra such as a public road, if a vehicle 30 following the work vehicle 10 is detected and there is a risk that the work vehicle 10 will impede the travel of the following vehicle 30, the work vehicle 10 will travel to the evacuation area Rb. This allows the following vehicle 30 to travel in the travel lane of the road Ra and overtake the work vehicle 10 that has retreated to the evacuation area Rb.

[0136] Furthermore, the work vehicle 10 can generate an evacuation route R2 for evacuating to the evacuation area Rb, and can automatically travel according to the generated evacuation route R2. That is, the work vehicle 10 can automatically perform evacuation actions without manual operation by the operator. Furthermore, when the following vehicle 30 no longer exists, the work vehicle 10 can return from the evacuation route R2 to the target route R1 and continue automatic travel. Therefore, it is possible to automatically travel the work vehicle 10 on the road Ra outside the field without impeding the travel of other vehicles (following vehicles 30).

[0137] The present invention is not limited to the above-described embodiment, and may be embodied as follows.

[0138] In the above embodiment, the operation control unit 21 of the operation terminal 20 outputs an evacuation instruction to the work vehicle 10, thereby causing the work vehicle 10 to evacuate to the evacuation area Rb. In another embodiment, the operator may operate the evacuation instruction on the operation terminal 20. For example, on the operation screen D2 shown in FIG. 12, when the operator checks the rear image and recognizes the following vehicle 30, he / she presses the evacuation travel instruction button B1. Also, when the operator is on board the work vehicle 10, he / she may directly look at the following vehicle 30 from inside the work vehicle 10 and press the evacuation travel instruction button B1. For example, the operator checks the following vehicle 30 and presses the evacuation travel instruction button B1 when he / she determines that the work vehicle 10 is obstructing the travel of the following vehicle 30.

[0139] When the operation control unit 21 accepts the operation of the evacuation travel instruction button B1 by the operator, it generates an evacuation route R2 (see FIG. 6A) for evacuating the work vehicle 10. In addition, the operation control unit 21 displays the generated evacuation route R2 on the operation screen D2 shown in FIG. 13, and also displays a message M4 prompting the operator to confirm safety within the evacuation area Rb. When the operator confirms the message M4, for example, the operator confirms safety within the evacuation area Rb by a forward image displayed on the operation screen D2 (see FIG. 13). In addition, when the operator is on board the work vehicle 10, the operator may directly look inside the evacuation area Rb from within the work vehicle 10 to confirm safety. When the operator presses the confirmation button B2 on the operation screen D2 shown in FIG. 13, the operation control unit 21 accepts the operation of the confirmation button B2 by the operator and outputs an evacuation instruction to the work vehicle 10. When the work vehicle 10 acquires the evacuation instruction from the operation control unit 21, it starts evacuation travel according to the evacuation route R2.

[0140] Furthermore, when the work vehicle 10 returns from the evacuation route R2 to the target route R1, the operation control unit 21 displays the operation screen D2 shown in FIG. 14 to display a message M5 that prompts the operator to confirm the safety of the road Ra. When the operator confirms the message M5, for example, the operator confirms the safety of the road Ra by using the forward image and rearward image displayed on the operation screen D2 (see FIG. 14). When the operator is on board the work vehicle 10, the operator may directly view the road Ra from inside the work vehicle 10 to confirm the safety. When the operator presses the confirmation button B3 on the operation screen D2 shown in FIG. 14, the operation control unit 21 accepts the operation of the confirmation button B3 by the operator and outputs a return instruction to the work vehicle 10. When the work vehicle 10 acquires the return instruction from the operation control unit 21, it returns from the evacuation route R2 to the target route R1 and resumes automatic traveling according to the target route R1.

[0141] In this way, the automated driving system 1 may detect the following vehicle 30 and determine whether the work vehicle 10 obstructs the travel of the following vehicle 30 based on the judgment of the operator. The automated driving system 1 may also cause the work vehicle 10 to travel evacuation based on an evacuation instruction from the operator, and cause the work vehicle 10 to travel return based on a return instruction from the operator.

[0142] The operation terminal 20 according to this embodiment may be mounted on the work vehicle 10 or may be disposed outside the work vehicle 10. In addition, each processing unit of the operation terminal 20 may be included in the vehicle control device 11 of the work vehicle 10. For example, the work vehicle 10 may include a determination processing unit (corresponding to the determination processing unit 214 of the operation terminal 20) that determines whether the work vehicle 10 will obstruct the travel of the following vehicle 30 when the following vehicle 30 is detected, a search processing unit (corresponding to the search processing unit 215 of the operation terminal 20) that searches for a predetermined evacuation area Rb to which the work vehicle 10 is to be evacuated when it is determined that the work vehicle 10 will obstruct the travel of the following vehicle 30, and an evacuation processing unit (corresponding to the evacuation processing unit 216 of the operation terminal 20) that causes the work vehicle 10 to evacuate to the evacuation area Rb when it is determined that the work vehicle 10 will obstruct the travel of the following vehicle 30.

[0143] That is, in the above embodiment, the work vehicle 10 and the operation terminal 20 correspond 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 work vehicle 10 alone. Also, each processing unit of the operation terminal 20 may be included in a server capable of communicating with the work vehicle 10. [Explanation of symbols]

[0144] 1:Autonomous driving system 10: Work vehicle 11: Vehicle control device 12: Detection processing device 13: Running gear 14: Work equipment 15: Camera 16: Obstacle sensor 20: Operation terminal 21: Operation control section 30: Following vehicle 111: Driving processing unit 121: Acquisition processing unit 122: Detection processing unit 211: Setting processing section 212: Route generation processing unit 213: Output processing section 214: Judgment processing unit 215: Search processing unit 216: Evacuation processing unit F1: Field (work area) F2: Field (work area) R1: Target route R2: Evacuation route R21: Route 1 R22: Pathway 2 R23: 3rd pathway Ra: road Rb: Evacuation area S: Travel start position G: End position

Claims

1. Automatically driving a work vehicle along a target route on a road outside a work area; detecting a vehicle following the work vehicle on the road; When the following vehicle is detected, determining whether the work vehicle is obstructing travel of the following vehicle; When it is determined that the work vehicle obstructs the travel of the following vehicle, the work vehicle is evacuated to a predetermined evacuation area. An automated driving method that performs the above.

2. searching for the evacuation area when it is determined that the work vehicle obstructs the travel of the following vehicle; The automatic driving method according to claim 1.

3. searching for the evacuation area based on preregistered map information; The automatic driving method according to claim 2.

4. The escape area is searched for based on at least one of a vehicle width of the work vehicle and a lateral width of a work implement attached to the work vehicle. The automatic driving method according to claim 2 or 3.

5. determining whether the work vehicle obstructs the travel of the following vehicle based on at least one of a travel speed of the following vehicle and a distance between the following vehicle and the work vehicle; The automatic driving method according to any one of claims 1 to 4.

6. When the evacuation area is detected, an evacuation route for evacuating the work vehicle is generated. The automatic driving method according to any one of claims 1 to 5.

7. the evacuation route includes a first route continuing from the target route into the evacuation area, a second route within the evacuation area, and a third route continuing from the evacuation area to the target route; The automatic driving method according to claim 6.

8. each of the first path and the third path includes a turning path; The turning path is set based on a traveling speed and a turning radius of the work vehicle. The automatic driving method according to claim 7.

9. determining whether or not it is possible to cause the work vehicle to enter the evacuation area based on a detection result of an obstacle within the evacuation area; When it is determined that the work vehicle can enter the evacuation area, the work vehicle is evacuated to the evacuation area. The automatic driving method according to any one of claims 1 to 8.

10. When an obstacle is detected in the evacuation area, the work vehicle is not evacuated to the evacuation area. The automatic driving method according to any one of claims 1 to 9.

11. When the work vehicle is evacuated to the evacuation area, specific information indicating that the work vehicle is traveling to an evacuation area is notified. The automatic driving method according to any one of claims 1 to 10.

12. when it is determined that the work vehicle will not impede the travel of the following vehicle after the work vehicle has retreated to the retreat area, the work vehicle is caused to return to the target route from the retreat area. The automatic driving method according to any one of claims 1 to 11.

13. a driving processing unit that automatically drives the work vehicle along a target route on roads outside the work area; a detection processing unit that detects a vehicle following the work vehicle on the road; a determination processing unit that, when the following vehicle is detected, determines whether the work vehicle is obstructing travel of the following vehicle; an evacuation processing unit that causes the work vehicle to evacuate to a predetermined evacuation area when it is determined that the work vehicle obstructs the travel of the following vehicle; An automated driving system equipped with

14. Automatically driving a work vehicle along a target route on a road outside a work area; detecting a vehicle following the work vehicle on the road; When the following vehicle is detected, determining whether the work vehicle is obstructing travel of the following vehicle; When it is determined that the work vehicle obstructs the travel of the following vehicle, the work vehicle is evacuated to a predetermined evacuation area. An automated driving program for executing the above on one or more processors.

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