Driving control method, driving control system, and driving control program

Abstract

To provide a running control method, a running control system, a running control program which can improve operability when making a work vehicle automatically run.SOLUTION: A running processing part 111 allows a work vehicle 10 to manually run on the basis of manual running control by an operator. A route creation processing part 113, when the work vehicle 10 receives route creation-instruction control by the operator to an operating part 172 during manual running, creates a target route which is a route on which the work vehicle 10 automatically runs. The running processing part 111, when receiving automatic running starting control by the operator to the operating part 172 after the route creation instruction control, makes the work vehicle 10 automatically run on the target route.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Conventionally, as a work vehicle capable of automatic driving, a work vehicle that automatically drives according to a preset target route only when traveling straight is known. For example, Prior Art Document 1 discloses a work vehicle equipped with a correction means for correcting a target driving direction when a deviation occurs between the direction intended by the operator and the direction recognized by the work vehicle when traveling straight by automatic driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-71142 A Summary of the Invention [Problem to be solved by the invention]

[0004] When a work vehicle is driven while switching between manual driving and automatic driving, the operator performs an operation to switch from manual driving to automatic driving, for example. Here, if the target route for automatic driving is different from the route intended by the operator, the operator must interrupt the driving and operation of the work vehicle, regenerate the target route, or align the work vehicle. Thus, the conventional technology has a problem of low operability when driving a work vehicle automatically.

[0005] An object of the present invention is to provide a driving control method, a driving control system, and a driving control program that are capable of improving operability when automatically driving a work vehicle. [Means for solving the problem]

[0006] The driving control method of the present invention is a method of manually driving a work vehicle based on an operator's manual driving operation, generating a target route which is a route along which the work vehicle will drive automatically when a first operation of the operator on an operation unit is received while the work vehicle is manually driven, and causing the work vehicle to drive automatically along the target route when a second operation of the operator on the operation unit is received after the first operation.

[0007] The driving control system according to the present invention includes a first driving processing unit, a route generation processing unit, and a second driving processing unit. The first driving processing unit manually drives a work vehicle based on a manual driving operation by an operator. The route generation processing unit generates a target route which is a route for the work vehicle to drive automatically when a first operation by the operator on an operation unit is received while the work vehicle is being manually driven. The second driving processing unit automatically drives the work vehicle according to the target route when a second operation by the operator on the operation unit is received after the first operation.

[0008] The driving control program of the present invention is a program for causing one or more processors to execute the following operations: manually driving a work vehicle based on an operator's manual driving operation; when a first operation of the operator on an operation unit is received while the work vehicle is manually driven, generating a target route which is a route along which the work vehicle will drive automatically; and when a second operation of the operator on the operation unit is received after the first operation, causing the work vehicle to drive automatically along the target route. Effect of the Invention

[0009] According to the present invention, it is possible to provide a driving control method, a driving control system, and a driving control program that are capable of improving operability when causing a work vehicle to automatically drive. [Brief description of the drawings]

[0010] [Figure 1]FIG. 1 is a block diagram showing the configuration of a work vehicle 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 an external view showing an example of an operating device according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a target route for a work vehicle according to an embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram for explaining a driving method for automatic driving in a work vehicle according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram for explaining a driving method for automatic driving in a work vehicle according to an embodiment of the present invention. [Figure 7A] FIG. 7A is a diagram showing a method of operating the operating device according to the embodiment of the present invention. [Figure 7B] FIG. 7B is a diagram showing a method of operating the operating device according to the embodiment of the present invention. [Figure 7C] FIG. 7C is a diagram showing a method of operating the operating device according to the embodiment of the present invention. [Figure 7D] FIG. 7D is a diagram showing a method of operating the operating device according to the embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing a method for generating a target route for a work vehicle according to an embodiment of the present invention. [Figure 8B] FIG. 8B is a diagram showing a method for generating a target route for a work vehicle according to an embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing an example of a procedure of a driving control process executed in the work vehicle according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing another method for generating a target route for a work vehicle according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing another method for generating a target route for a work vehicle according to an 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] As shown in FIG. 1 and FIG. 2, the driving control system according to the embodiment of the present invention includes a work vehicle 10, a base station (not shown), and a satellite (not shown). In this embodiment, the work vehicle 10 is a tractor. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The work vehicle 10 performs a predetermined work (e.g., plowing work) while traveling in a field F (see FIG. 4) from a work start position S to a work end position G in response to an operation by an operator. Specifically, the work vehicle 10 automatically travels along a straight path R1, which is a target path, in response to an automatic traveling operation by the operator, and manually travels along a turning path R2 in response to a manual traveling operation (driving operation) by the operator. The work vehicle 10 travels in the field F while repeating automatic traveling along the straight path R1 and manual traveling along the turning path R2 to perform work. The target path is a path when the work vehicle 10 automatically travels, and is a path generated in advance based on the operation of the operator. In this embodiment, the straight route R1 corresponds to the target route.

[0013] In this embodiment, the case where the work vehicle 10 automatically travels when traveling straight is taken as an example, but the work vehicle 10 may also automatically travel when traveling in a turn. When the work vehicle 10 automatically travels when traveling in a turn, the turning route R2 corresponds to the target route. In other words, the work vehicle of the present invention has a configuration that switches between a function of automatically traveling along the target route and a function of manually traveling in response to the operator's manual traveling operation.

[0014] In the field F shown in Fig. 4, for example, the work vehicle 10 travels from a work start position S to a work end position G by repeating a straight path R1, a turning path R2, a straight path R1, a turning path R2, ... in that order. Each of the multiple straight paths R1 is approximately parallel to each other. The travel path including the straight path R1 and the turning path R2 shown in Fig. 4 is one example, and the travel path is determined appropriately depending on the size of the work vehicle 10, the size of the work implement 14, the work content, the shape of the field F, etc.

[0015] The driving control system may include an operation terminal (tablet terminal, smartphone, etc.) operated by an operator. The operation terminal is capable of communicating with the work vehicle 10 via a communication network such as a mobile phone network, a packet line network, or a wireless LAN. For example, the operator operates the operation terminal to register various information (work vehicle information, farm field information, work information, etc.). In addition, the operator can grasp the driving status and work status of the work vehicle 10 from the driving trajectory displayed on the operation terminal at a location away from the work vehicle 10.

[0016] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work machine 14, a communication unit 15, a positioning device 16, an operation device 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work machine 14, the positioning device 16, the operation device 17, etc. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication. The vehicle control device 11 and the operation device 17 may be capable of wireless communication.

[0017] The communication unit 15 is a communication interface for connecting the work vehicle 10 to a communication network by wire or wirelessly, and for executing data communication with an external device (such as an operation terminal) via the communication network in accordance with a predetermined communication protocol.

[0018] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as a driving control program for causing the vehicle control device 11 to execute a driving control process (see FIG. 9) described below. For example, the driving control 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 12. The driving control program may be downloaded to the work vehicle 10 from a server (not shown) via a communication network and stored in the storage unit 12.

[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 electric 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. Electric components such as the vehicle control device 11, the positioning device 16, and the operation device 17 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 is transmitted to rear wheels 133 via the transmission 134 and a rear axle 136. The driving force of the engine 131 is also transmitted to the work machine 14 via a PTO shaft (not shown). 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 tiller, a seeding machine, a grass cutter, a plow, or a fertilizer applicator, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various types of work using each of the working machines 14. Fig. 2 shows a case where the working machine 14 is a tiller.

[0023] The handle 137 is an operating unit that is operated by an operator or the vehicle control device 11. For example, the traveling device 13 changes the angle of the front wheels 132 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, thereby changing the traveling direction of the work vehicle 10.

[0024] In addition to the handlebar 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. The traveling device 13 switches the gear of the transmission 134 to a forward gear, a reverse gear, etc., in response to operation of the shift lever by the vehicle control device 11, and switches the traveling mode of the work vehicle 10 to forward, reverse, etc. The traveling device 13 also controls the rotation speed of the engine 131 in response to operation of the accelerator by the vehicle control device 11. The traveling device 13 also brakes the rotation of the front wheels 132 and the rear wheels 133 using electromagnetic brakes in response to brake operation by the vehicle control device 11.

[0025] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in FIG. 2, the positioning device 16 is provided on the upper part of a cabin 18 in which an operator sits. The location of the positioning device 16 is not limited to the cabin 18. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be disposed in different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0026] The positioning control unit 161 is a computer system including one or more processors and storage memories such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory that stores a positioning control program for causing the positioning control unit 161 to execute a positioning process, and data such as positioning information and movement information. For example, the positioning control 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 162. The positioning control program may be downloaded to the positioning device 16 from a server (not shown) via a communication network and stored in the storage unit 162.

[0027] The communication unit 163 is a communication interface for connecting the positioning device 16 to a communication network by wire or wirelessly, and for executing data communication with an external device such as a base station server via the communication network in accordance with a predetermined communication protocol.

[0028] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from the satellites.

[0029] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signal received by the positioning antenna 164 from a satellite. For example, when the work vehicle 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GPS positioning method (RTK method)) that calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs automatic travel using positioning information by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position shifted from the positioning position.

[0030] The operation device 17 is a device operated by an operator who boards the work vehicle 10, and includes a display unit 171 that displays various information, and an operation unit 172 that accepts operations from the operator. For example, as shown in FIG. 2 and FIG. 3, the operation device 17 is installed near the handle 137 inside the cabin 18. The display unit 171 and the operation unit 172 may be installed at different positions. For example, the operation unit 172 may be installed on the handle 137. The display unit 171 and the operation unit 172 may be configured as an integrated touch panel. That is, the operation unit 172 may be configured as a physical button whose shape changes in response to an operation by the operator, or may be configured as an electronic button image displayed on the display unit 171. The operation device 17 may also be an operation terminal (such as a tablet terminal or a smartphone) that the operator can carry around.

[0031] The operation unit 172 includes an automatic driving button B1 (see FIG. 3) that the operator presses when causing the work vehicle 10 to travel automatically. That is, the automatic driving button B1 functions as a switch button (automatic driving instruction button) for switching the travel mode of the work vehicle 10 from manual travel (manual travel mode) to automatic travel (automatic travel mode). The automatic driving button B1 is an example of the operation unit and operation button of the present invention. A specific method of operating the automatic driving button B1 will be described later.

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

[0033] As shown in FIG. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111, a reception processing unit 112, a route generation processing unit 113, a display processing unit 114, and a position adjustment processing unit 115. The driving processing unit 111 is an example of a first driving processing unit and a second driving processing unit of the present invention. The route generation processing unit 113 is an example of a route generation processing unit of the present invention. The vehicle control device 11 functions as the various processing units by executing various processes according to the driving control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The driving control program may be a program for causing a plurality of processors to function as the processing units.

[0034] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, when the driving mode of the work vehicle 10 is manual driving, the driving processing unit 111 manually drives the work vehicle 10 based on the operation of the operator (manual driving operation). For example, when the driving processing unit 111 acquires operation information corresponding to manual driving operations (driving operations) such as steering, shifting, accelerator, and brake operations by the operator, it causes the driving device 13 to perform a driving operation based on the operation information.

[0035] Furthermore, when the driving mode of the work vehicle 10 is automatic driving, the driving processing unit 111 causes the work vehicle 10 to automatically drive based on position information (positioning information) indicating the current position of the work vehicle 10 measured by the positioning control unit 161. For example, when the work vehicle 10 satisfies an automatic driving start condition and an automatic driving start instruction is obtained from the operator, the driving processing unit 111 causes the work vehicle 10 to start automatic driving based on the positioning information. Furthermore, the driving processing unit 111 causes the work vehicle 10 to automatically drive according to a target route generated in advance.

[0036] Here, a specific example of the automatic travel according to this embodiment will be described with reference to FIG. 5 and FIG. 6. In this embodiment, in the field F shown in FIG. 4, the work vehicle 10 is automatically traveled along a straight path R1 among the travel paths. First, the operator sets a reference line L1 for generating the straight path R1, which is a target path. For example, the operator manually travels the work vehicle 10 in a direction (target direction) in which the work vehicle 10 is to travel and work at an arbitrary position (for example, an outer peripheral end) in the field F. Specifically, the operator manually travels the work vehicle 10 in a direction parallel to the work direction (for example, the plowing direction) in which the work vehicle 10 works in the work area. Then, the operator operates (selects) the operation unit 172 twice at an arbitrary position while the work vehicle 10 is being manually traveled in the intended target direction. The vehicle control device 11 registers the operation position (point A) by the first selection operation by the operator, and registers the operation position (point B) by the second selection operation by the operator. When the vehicle control device 11 acquires the position information of points A and B, it sets a straight line passing through points A and B as a reference line L1 (see FIG. 5). The vehicle control device 11 registers the reference line L1 in the memory unit 12. The registration process of the reference line L1 is executed in advance before the work vehicle 10 starts work. After the reference line L1 is registered, the work vehicle 10 starts work in the field F.

[0037] For example, when driving the work vehicle 10 straight in the field F, the operator operates the operation unit 172 to switch the driving mode from manual driving to automatic driving. When the driving mode is switched to automatic driving, the vehicle control device 11 (route generation processing unit 113) generates a target route (straight route R1) parallel to the reference line L1 based on the current position P1 of the work vehicle 10 (see FIG. 6). For example, the route generation processing unit 113 generates, as the target route, a route (straight route R1) that passes through the current position P1 and connects the automatic driving start position Sa corresponding to point A on a straight line parallel to the reference line L1 and the automatic driving end position Gb corresponding to point B.

[0038] Then, when the work vehicle 10 satisfies the automatic driving start conditions and acquires an automatic driving start command from the operator, the driving processing unit 111 causes the work vehicle 10 to start automatic driving along the straight route R1. The automatic driving start conditions include that the current position P1 of the work vehicle 10 and the automatic driving start position Sa approximately match (including perfect match), that the orientation of the work vehicle 10 is within a predetermined orientation, and the like. As a result, the work vehicle 10 automatically drives along the straight route R1 (see FIG. 6) from the automatic driving start position Sa to the automatic driving end position Gb.

[0039] Furthermore, when the work vehicle 10 reaches the automatic driving end position Gb, the driving processing unit 111 switches the driving mode to manual driving. When the driving mode is switched to manual driving, for example, the operator manually drives the work vehicle 10 by manual driving operation on the turning route R2 (see FIG. 4).

[0040] In this manner, the driving processing unit 111 switches the driving mode in response to the operation of the operator, causing the work vehicle 10 to automatically drive along the straight route R1 and manually drive along the turning route R2.

[0041] Here, the reception processing unit 112 receives an operation to switch the driving mode by the operator. Specifically, the reception processing unit 112 receives an operation to switch the driving mode from manual driving to automatic driving via the operator's operation of the operation unit 172 (automatic driving button B1).

[0042] Next, a specific method of operating the automatic driving button B1 will be described with reference to Figs. 7A to 7D. Figs. 7A to 7D show a specific configuration of the operation device 17 and an example of a display screen. As shown in Fig. 7A, the display processing unit 114 causes the display unit 171 to display information indicating whether automatic driving is possible or not. For example, when the work vehicle 10 satisfies the automatic driving start condition, the display processing unit 114 causes the display unit 171 to display a message indicating that automatic driving is possible (see Fig. 7A).

[0043] When the work vehicle 10 satisfies the automatic driving start conditions, the reception processing unit 112 enables reception of the automatic driving button B1. For example, as shown in Fig. 7B, when the operator presses (selects) the automatic driving button B1 (AUTO button) with his / her finger, the reception processing unit 112 accepts the operation (selection operation). The operation of pressing the automatic driving button B1 (selection operation) is an example of the first operation of the present invention.

[0044] When the reception processing unit 112 receives the selection operation of the automatic travel button B1, the route generation processing unit 113 generates a route (straight route R1 in FIG. 6) that passes through the current position P1 of the work vehicle 10 at the time of receiving the selection operation and is parallel to a preset reference line L1 as a target route. That is, the operation of the operator pressing the automatic travel button B1 corresponds to a route generation instruction operation (an example of a first operation of the present invention), and when the operator presses the automatic travel button B1, the reception processing unit 112 receives a route generation instruction. In addition, the display processing unit 114 displays the target route generated by the route generation processing unit 113 on the display unit 171 (see FIG. 7B). Note that the display processing unit 114 may display the reference line L1 together with the target route on the display screen shown in FIG. 7B.

[0045] Specifically, the position adjustment processing unit 115 sets the control center position (current position P1) of the work vehicle 10 to a position shifted by a preset distance from the positioning position P0, which is the position of the positioning control unit 161 or the positioning antenna 164. The operator can set the control center position (current position P1) to any position by setting the set distance. For example, the current position P1 is set to the front side of the work vehicle 10 from the positioning position P0. The current position P1 may also be set to the rear side of the work vehicle 10 from the positioning position P0 (for example, the position of the work implement 13), or may be set to a position shifted in the left-right direction from the center position in the left-right direction. The current position P1 may also be set to the front side of the vehicle body of the work vehicle 10 in the traveling direction. The current position P1 may also be the same position as the positioning position P0.

[0046] The route generation processing unit 113 generates a target route based on the current position P1 (control center position) of the work vehicle 10 set by the position adjustment processing unit 115. The target route is generated based on a position shifted by a preset distance from the measured position P0 of the work vehicle 10, as shown in Fig. 8A and Fig. 8B. For example, as shown in Fig. 8A, the route generation processing unit 113 generates a target route based on the current position P1 set on the forward side of the work vehicle 10 from the measured position P0. Also, as shown in Fig. 8B, for example, the route generation processing unit 113 generates a target route based on the current position P1 set on the rear side of the work vehicle 10 (for example, the position of the work implement 13) from the measured position P0.

[0047] By generating a target route for the work vehicle 10 based on a position (current position P1) shifted from the positioning position P0 to an arbitrary position, the operator can automatically drive the work vehicle 10 based on the arbitrary position. For example, by generating a target route for the work vehicle 10 based on a current position P1 shifted forward from the positioning position P0 (see FIG. 8A), the operator can automatically drive the work vehicle 10 based on, for example, the position of the bonnet in front of the work vehicle 10. Also, by generating a target route for the work vehicle 10 based on a current position P1 shifted backward from the positioning position P0 (see FIG. 8B), the operator can automatically drive the work vehicle 10 based on, for example, the position of the work implement 13.

[0048] In addition, in order to prevent malfunction due to chattering of the automatic driving button B1, the reception processing unit 112 may accept the operation (route generation instruction operation) when a certain period of time (e.g., 0.2 seconds) has elapsed while the automatic driving button B1 is pressed.

[0049] After the operator presses the automatic driving button B1 with his / her finger, if the operator subsequently releases his / her finger from the automatic driving button B1 before (within) a predetermined time (e.g., 3 seconds) has elapsed since pressing the automatic driving button B1 with his / her finger (see FIG. 7C), the reception processing unit 112 accepts the operation (cancellation operation). The operation (cancellation operation) of releasing the automatic driving button B1 before the predetermined time has elapsed since pressing the automatic driving button B1 is an example of the second operation of the present invention.

[0050] When the reception processing unit 112 receives the release operation of the automatic travel button B1, the travel processing unit 111 starts the automatic travel of the work vehicle 10 according to the target route (straight route R1) (see FIG. 7C). That is, the operation of the operator releasing the automatic travel button B1 before a predetermined time has elapsed corresponds to an automatic travel start operation (or a travel mode switching operation) (an example of a second operation of the present invention), and when the operator releases the automatic travel button B1 before the predetermined time has elapsed, the reception processing unit 112 receives an automatic travel start instruction, and the travel processing unit 111 switches the travel mode from manual travel to automatic travel and starts automatic travel according to the target route. In addition, the display processing unit 114 displays a message indicating that automatic travel is to be started and the traveling direction of the work vehicle 10 on the display unit 171 (see FIG. 7C). In this way, when the vehicle control device 11 receives the automatic travel start operation after the route generation instruction operation, it switches the work vehicle 10 from manual travel to automatic travel. Furthermore, when the vehicle control device 11 receives the automatic driving start operation before a predetermined time has elapsed since receiving the route generation instruction operation, the vehicle control device 11 switches the work vehicle 10 from manual driving to automatic driving.

[0051] Here, if a predetermined time (e.g., 3 seconds) has elapsed with the operator pressing the automatic travel button B1 with his / her finger (see FIG. 7D), that is, if the operator does not release his / her finger from the automatic travel button B1 until the predetermined time has elapsed since pressing the automatic travel button B1 with his / her finger, the reception processing unit 112 accepts the operation (pressing and maintaining operation). When the reception processing unit 112 accepts the pressing and maintaining operation of the automatic travel button B1, the route generation processing unit 113 discards the generated target route (straight route R1) (see FIG. 7D). In other words, the operation of the operator maintaining the pressing state of the automatic travel button B1 until the predetermined time has elapsed corresponds to a cancel operation that cancels the generated target route, and when the operator maintains the pressing state of the automatic travel button B1 until the predetermined time has elapsed, the reception processing unit 112 accepts an instruction to cancel the target route, and the route generation processing unit 113 discards (cancels) the generated target route. Furthermore, the display processing unit 114 causes the display unit 171 to display a message indicating that the generated target route has been discarded (see FIG. 7D). In this case, the driving processing unit 111 maintains the manual driving of the work vehicle 10. In this manner, the vehicle control device 11 maintains the manual driving of the work vehicle 10 if the automatic driving start operation is not accepted within a predetermined time period after the vehicle control device 11 accepts the route generation instruction operation. Furthermore, the vehicle control device 11 discards the generated target route if the automatic driving start operation is not accepted within a predetermined time period after the vehicle control device 11 accepts the route generation instruction operation.

[0052] By the above operations, for example, when an operator wants to automatically drive the work vehicle 10, the operator can generate and confirm a target route by pressing the automatic driving button B1 (route generation instruction operation). Then, if the generated target route is the intended route, the operator can release the automatic driving button B1 before a predetermined time has elapsed (automatic driving start operation) to cause the work vehicle 10 to start automatic driving along the target route.

[0053] Furthermore, if the generated target route is not the intended route, the operator can discard the target route by continuously pressing the automatic travel button B1 for a predetermined time (cancel operation), and generate the target route again by changing the position of the work vehicle 10 and pressing the automatic travel button B1 again (route generation instruction operation). Thus, the operator can reliably generate the intended target route and cause the work vehicle 10 to automatically travel along the intended target route.

[0054] The display processing unit 114 may cause the display unit 171 to display information such as the target route and the travel path while the work vehicle 10 is traveling (manual travel or automatic travel).

[0055] [Drive control processing] An example of the driving control process executed by the vehicle control device 11 will be described below with reference to Fig. 9. Note that the present invention may be understood as an invention of a driving control method in which the vehicle control device 11 executes part or all of the driving control process, or an invention of a driving control program for causing the vehicle control device 11 to execute part or all of the driving control method. Furthermore, one or more processors may execute the driving control process.

[0056] First, in step S1, the vehicle control device 11 starts the engine 131 of the work vehicle 10 in response to an engine start operation by the operator. When the engine 131 starts, the positioning control unit 161 executes a direction recognition process (initialization).

[0057] Next, in step S2, the vehicle control device 11 determines whether or not a manual travel operation (driving operation) by the operator has been accepted. For example, the operator performs steering, shifting, accelerating, braking, and the like, to move the work vehicle 10 to the work start position S. When the vehicle control device 11 accepts the manual travel operation (S2: Yes), the process proceeds to step S3.

[0058] In step S3, the vehicle control device 11 manually drives the work vehicle 10 based on the manual driving operation by the operator. Specifically, when the vehicle control device 11 acquires operation information of the manual driving operation by the operator, it causes the driving device 13 to perform a driving operation.

[0059] Next, in step S4, the vehicle control device 11 determines whether the work vehicle 10 is in a state capable of automatic travel. For example, the vehicle control device 11 determines that the work vehicle 10 is in a state capable of automatic travel when automatic travel start conditions are met, such as the current position P1 of the work vehicle 10 and the automatic travel start position Sa (see FIG. 6) substantially matching, and the orientation of the work vehicle 10 being within a predetermined orientation. If the work vehicle 10 is in a state capable of automatic travel (S4: Yes), the process proceeds to step S5. On the other hand, if the work vehicle 10 is not in a state capable of automatic travel (S4: No), the process proceeds to step S12. While the work vehicle 10 is not in a state capable of automatic travel, the vehicle control device 11 repeats manual travel in accordance with the operator's manual travel operation until the work is completed (S12: No).

[0060] Furthermore, if the work vehicle 10 is in a state capable of automatic driving (S4: Yes), the vehicle control device 11 causes the display unit 171 to display a message indicating that automatic driving is possible (see FIG. 7A). This allows the operator to recognize that the work vehicle 10 is capable of automatic driving.

[0061] In step S5, the vehicle control device 11 determines whether or not the automatic driving button B1 has been pressed. For example, when the operator determines that he or she wants to cause the work vehicle 10 to automatically drive, the operator presses the automatic driving button B1 included in the operation unit 172 of the operation device 17 with his or her finger (see FIG. 7B). When the automatic driving button B1 has been pressed (S5: Yes), the process proceeds to step S6. On the other hand, when the automatic driving button B1 has not been pressed (S5: No), the process proceeds to step S12.

[0062] In step S6, the vehicle control device 11 generates a target route that will be the route along which the work vehicle 10 will travel automatically. Specifically, when the automatic travel button B1 is pressed, the vehicle control device 11 accepts a route generation instruction and generates a route (straight route R1 in FIG. 6) that passes through the current position P1 of the work vehicle 10 at the time the automatic travel button B1 is pressed and is parallel to a preset reference line L1 as a target route. The vehicle control device 11 may set the current position P1 (control center position) to the positioning position P0, which is the position of the positioning control unit 161 or the positioning antenna 164, or may set the current position P1 to a position shifted a predetermined distance in any of the forward / backward / left / right directions from the positioning position P0.

[0063] Next, in step S7, the vehicle control device 11 displays the generated target route on the display unit 171 (see FIG. 7B). This allows the operator to understand the route along which the work vehicle 10 can automatically travel. The operator can then easily determine whether or not the generated target route is the route he or she intended.

[0064] Next, in steps S8 and S9, the vehicle control device 11 determines whether the automatic driving button B1 is released (released) before a predetermined time (e.g., 3 seconds) has elapsed since the automatic driving button B1 was pressed. Specifically, if the operator releases his / her finger from the automatic driving button B1 before 3 seconds have elapsed since the operator pressed the automatic driving button B1 with his / her finger (S8: No and S9: Yes), the process proceeds to step S10 (see FIG. 7C). On the other hand, if 3 seconds have elapsed while the operator keeps the automatic driving button B1 pressed with his / her finger (S8: Yes), the process proceeds to step S81 (see FIG. 7D).

[0065] For example, if the operator determines that the generated target route is the route he / she intended, he / she releases his / her finger from the automatic driving button B1 within 3 seconds after pressing the automatic driving button B1 (see FIG. 7C).On the other hand, if the operator determines that the generated target route is not the route he / she intended, he / she keeps the automatic driving button B1 pressed until 3 seconds are reached (see FIG. 7D).

[0066] In step S81, the vehicle control device 11 discards the generated target route (see FIG. 7D). Specifically, when three seconds have passed since the operator pressed the automatic driving button B1 with his / her finger, the vehicle control device 11 accepts an instruction to cancel the target route and discards (cancels) the generated target route. In addition, the vehicle control device 11 displays a message indicating that the generated target route has been discarded on the display unit 171 (see FIG. 7D). After step S81, the process proceeds to step S12. In this case, for example, the vehicle control device 11 continues manual driving and regenerates the target route based on another route generation instruction from the operator.

[0067] In step S10, the vehicle control device 11 automatically drives the work vehicle 10 according to the generated target route. Specifically, when the operator releases his / her finger from the automatic driving button B1 before three seconds have elapsed since pressing the automatic driving button B1 with his / her finger, the vehicle control device 11 accepts an automatic driving start instruction and switches the driving mode from manual driving to automatic driving to start automatic driving. For example, the vehicle control device 11 automatically drives the work vehicle 10 along a straight route R1 (see FIG. 6) from the automatic driving start position Sa to the automatic driving end position Gb. In addition, the vehicle control device 11 displays a message indicating that automatic driving is to start on the display unit 171 (see FIG. 7C). This allows the operator to know that the work vehicle 10 has started automatic driving. After step S10, the process proceeds to step S11.

[0068] In step S11, the vehicle control device 11 determines whether or not the work vehicle 10 has finished automatic driving on the target route. For example, when the work vehicle 10 reaches the automatic driving end position Gb (see FIG. 4) of the straight route R1, the vehicle control device 11 determines that the work vehicle 10 has finished automatic driving on the target route. When the work vehicle 10 has finished automatic driving on the target route (S11: Yes), the process proceeds to step S12. On the other hand, when the work vehicle 10 has not finished automatic driving on the target route (S11: No), the process proceeds to step S111.

[0069] When the work in the field F is completed while the work vehicle 10 is automatically traveling along the target route (S111: Yes), the vehicle control device 11 ends the travel control process.

[0070] Furthermore, in step S12, the vehicle control device 11 determines whether or not the work vehicle 10 has finished work. If the work vehicle 10 has finished work (S12: Yes), the vehicle control device 11 ends the travel control process. On the other hand, if the work vehicle 10 has not finished work (S12: No), the process returns to step S3, and the vehicle control device 11 repeats the above-mentioned process.

[0071] In the manner described above, the vehicle control device 11 executes the driving control process for the work vehicle 10.

[0072] As described above, the work vehicle 10 in this embodiment manually drives the work vehicle 10 based on the operator's manual driving operation, and when the work vehicle 10 receives a first operation (route generation instruction operation) from the operator on the operation unit 172 while the work vehicle 10 is being manually driven, generates a target route which is the route along which the work vehicle 10 will drive automatically, and when the work vehicle 10 receives a second operation (automatic driving start operation) from the operator on the operation unit 172 after the first operation, causes the work vehicle 10 to drive automatically along the target route.

[0073] According to the above configuration, a target route for automatic driving is generated by the operator performing a first operation. Therefore, the operator can generate an intended target route. Furthermore, the operator can cause the work vehicle 10 to automatically drive along the target route by performing a second operation following the first operation. In this way, the operator can confirm the target route before starting automatic driving of the work vehicle 10 by a simple operation on the operation unit 172, and can start automatic driving after confirming the target route. Therefore, it is possible to improve operability when causing the work vehicle 10 to automatically drive.

[0074] Here, in a configuration in which a target route is generated and automatic driving is started by a single operation by the operator, a problem may occur in which the work vehicle 10 starts automatic driving along a target route unintended by the operator. In this regard, the present embodiment is configured to require a two-stage operation by separating an operation for generating the target route (first operation) from an operation for starting automatic driving (second operation), and therefore can prevent the above problem.

[0075] [Other embodiments] The present invention is not limited to the above-described embodiment, and may be the following embodiment. For example, the route generation processing unit 113 may set a target route for automatic travel in advance. FIG. 10 shows straight routes Ra to Rd of the preset target route. For example, the straight routes Ra to Rd are generated based on setting information such as the reference line L1, the widths of the work vehicle 10 and the work implement 14, and the work width. The route generation processing unit 113 generates, as the target route for automatic travel, the straight route Rc, which is closest to the current position P1 of the work vehicle 10 at the time when the automatic travel button B1 is pressed by the operator, among the straight routes Ra to Rd. In this case, the work vehicle 10 automatically travels from the current position P1 toward the straight route Rc, and automatically travels on the straight route Rc when it enters the straight route Rc. After the work vehicle 10 automatically travels on the straight route Rc, the route generation processing unit 113 generates the straight route Rd as the next target route.

[0076] As another embodiment, as shown in Fig. 11, the route generation processing unit 113 may move the entire straight routes Ra-Rd so that they overlap with the current position P1 of the work vehicle 10 at the time the automatic travel button B1 is pressed, and generate the straight route Rc as the target route for automatic travel. In this case, as shown in Fig. 11, the route generation processing unit 113 moves the entire straight routes Ra-Rd in a direction in which the amount of movement of the straight routes Ra-Rd is smallest (leftward in Fig. 11), and generates a straight route Rc that overlaps with the current position P1 as the target route. In this case, the work vehicle 10 automatically travels on the straight route Rc from the current position P1.

[0077] In the above embodiment, the operation of the operator pressing the single operation unit 172 (automatic driving button B1) is accepted as a first operation (route generation instruction operation), and the operation of the operator releasing (opening) the pressed automatic driving button B1 within a predetermined time is accepted as a second operation (automatic driving start operation). In other words, the first operation and the second operation are different from each other in operation content.

[0078] As another embodiment of the present invention, the first operation and the second operation may be the same operation content. For example, a first operation in which the operator presses and releases the automatic driving button B1 may be accepted as a first operation (route generation instruction operation), and a second operation in which the operator presses and releases the automatic driving button B1 within a predetermined time thereafter may be accepted as a second operation (automatic driving start operation).

[0079] In the above embodiment, the operation unit that accepts the first operation (route generation instruction operation) and the second operation (automatic driving start operation) is configured as a single operation unit 172 (automatic driving button B1), but the present invention is not limited to this. As another embodiment, the operation device 17 may be configured to have a first operation button that accepts the route generation instruction operation and a second operation button that accepts the automatic driving start operation separately. In this case, when the operator presses the first operation button while the work vehicle 10 is manually driving, the route generation processing unit 113 generates a target route for automatic driving, and then, when the operator presses the second operation button before a predetermined time has elapsed, the driving processing unit 111 switches from manual driving to automatic driving and causes the work vehicle 10 to automatically drive along the target route.

[0080] Furthermore, the form of the operation unit 172 is not limited to an operation tool of the type that is pushed in by a finger, but may be an operation tool of the type that is pulled by a finger, an operation tool that slides horizontally, or the like.

[0081] The driving control system of the present invention is configured to include at least a driving processing unit 111 and a route generation processing unit 113, which are included in a vehicle control device 11. The driving control system may be mounted on the work vehicle 10, or may be mounted outside the work vehicle 10, for example, on an operation terminal (tablet terminal, smartphone, etc.). [Explanation of symbols]

[0082] 10: Work vehicle 11: Vehicle control device 12: Storage section 13: Running gear 14: Work equipment 15: Communications Department 16: Positioning device 17: Operating device 111: Travel processing unit (first travel processing unit, second travel processing unit) 112: Reception processing unit 113: Route generation processing unit 114: Display processing unit 171: Display section 172:Operation unit B1: Automatic driving button (operation button) F: Field L1: Reference line P0: Positioning position P1:Current position R1: Straight route (target route)

Claims

1. Manually driving the work vehicle based on a manual driving operation by an operator; When a first operation of the operator on an operation unit is received while the work vehicle is manually traveling, a target route is generated which is a route along which the work vehicle is automatically traveling; when a second operation of the operator on the operation unit is received after the first operation, causing the work vehicle to automatically travel along the target route; A driving control method for performing the above, A driving control method, wherein the first operation and the second operation are operations by the operator on a single operation unit.

2. switching the work vehicle from manual driving to automatic driving when the second operation is received after the first operation; The cruise control method according to claim 1 .

3. switching the work vehicle from manual driving to automatic driving when the second operation is accepted before a predetermined time has elapsed since the first operation was accepted; The cruise control method according to claim 2 .

4. maintaining manual driving of the work vehicle when the second operation is not accepted within a predetermined time period after the first operation is accepted; The cruise control method according to any one of claims 1 to 3.

5. discarding the generated target route when the second operation is not accepted within a predetermined time period after the first operation is accepted; The cruise control method according to any one of claims 1 to 4.

6. the first operation is a selection operation by the operator on a selection button that is the operation unit, the second operation is a release operation by the operator on the selection button, The cruise control method according to any one of claims 1 to 5.

7. generating the target route based on a current position of the work vehicle at the time when the first operation is accepted; The cruise control method according to any one of claims 1 to 6.

8. The current position of the work vehicle is a position shifted by a preset distance from the measured position of the work vehicle, generating, as the target route, a route that passes through the current position at the time when the first operation is accepted and is parallel to a preset reference line; The cruise control method according to claim 7.

9. When the first operation is received, the target route is generated, and the generated target route is displayed on a display unit. The cruise control method according to any one of claims 1 to 8.

10. A first travel processing unit that manually travels the work vehicle based on a manual travel operation by an operator; a route generation processing unit that generates a target route that is a route for the work vehicle to travel automatically when a first operation of the operator on an operation unit is received while the work vehicle is manually travelling; a second travel processing unit that automatically travels the work vehicle along the target route when a second operation by the operator on the operation unit is received after the first operation; Equipped with A cruise control system, wherein the first operation and the second operation are operations by the operator on a single operation unit.

11. Manually driving the work vehicle based on a manual driving operation by an operator; When a first operation of the operator on an operation unit is received while the work vehicle is manually traveling, a target route is generated which is a route along which the work vehicle is automatically traveling; when a second operation of the operator on the operation unit is received after the first operation, causing the work vehicle to automatically travel along the target route; A driving control program for causing one or more processors to execute the above, A travel control program, wherein the first operation and the second operation are operations by the operator on a single operation unit.

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