Autonomous driving system and autonomous driving method

Abstract

To provide an autonomous travel system for improving work efficiency of a worker in a farm field.SOLUTION: An autonomous travel system 100 comprises: a vehicle control part 260; and a stop direction reception part. The vehicle control part 260 moves a work vehicle 130 which moves in a farm field 10 along a preset work path, to a stop position 13 not included in the work path. The stop direction reception part receives stop direction information which indicates a setting related to a stop direction 14 of the work vehicle 130 on the stop position 13. In addition, the autonomous travel system may further comprise: a change path setting part 240 for generating a changed path for moving the work vehicle 130 to the stop position 13 on the basis of the stop position 13 and the stop direction information.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an autonomous driving system and an autonomous driving method. [Background technology]

[0002] In recent years, autonomous driving systems that can move automatically within a field and perform agricultural work have been researched.

[0003] Patent Document 1 discloses a control device in which positions within a farm field for replenishing materials and discharging harvested crops are set in advance, and a work vehicle working in the field is moved to the set positions based on instructions from a worker.

[0004] Patent Document 2 discloses an automatic driving system that moves a work vehicle working in a farm field to a preset evacuation area based on instructions from a worker. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 09-154315 [Patent Document 2] JP 2019-174890 A Summary of the Invention [Problem to be solved by the invention]

[0006] The techniques described in Patent Documents 1 and 2 do not take into consideration the orientation of the work vehicle when it moves to a supply position or an evacuation area. The work efficiency of the worker differs depending on the orientation of the work vehicle when it moves to a supply position or an evacuation area. In addition, a route for the work vehicle to move to a supply position or an evacuation position is generated based on the current position of the work vehicle. The work vehicle stops when changing from the work route on which it is working to a route for moving to a supply position or an evacuation position. This reduces the work efficiency of the work vehicle.

[0007] In view of the above, an object of the present disclosure is to provide an autonomous driving system that improves the work efficiency of a worker in a farm field. Other objects can be understood from the following description and the description of the embodiment. [Means for solving the problem]

[0008] The means for solving the problems will be described below using the numbers and symbols used in the description of the embodiment of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the description of the claims and the description of the embodiment of the invention. Therefore, the description in parentheses should not be interpreted as limiting the scope of the claims.

[0009] To achieve the above object, an autonomous driving system (100) according to one embodiment includes a vehicle control unit (260) and a stop direction receiving unit. The vehicle control unit (260) moves a work vehicle (130) moving in a field (10) along a preset work path to a stop position (13) that is not included in the work path. The stop direction receiving unit receives stop direction information indicating a setting related to a stop direction (14) of the work vehicle (130) at the stop position (13).

[0010] An autonomous traveling method according to one embodiment for achieving the above object includes moving a work vehicle (130) moving in a field (10) along a preset work path to a stop position (13) that is not included in the work path. The autonomous traveling method also receives, at the stop position (13), stop direction information indicating a setting related to a stop direction (14) of the work vehicle (130). Effect of the Invention

[0011] According to the above aspect, the route setting device improves the work efficiency of an operator in a farm field. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram of a farm field according to one embodiment. [Diagram 2] It is a configuration diagram of an autonomous driving system in one embodiment. [Diagram 3] It is a functional block diagram of an autonomous driving system in one embodiment. [Figure 4] It is a flowchart showing the processing by a route setting program in one embodiment. [Diagram 5] It is a diagram for explaining the position where the vehicle transitions from the working route to the changed route in one embodiment. [Figure 6] It is a diagram for explaining the stop position and stop direction in one embodiment. [Figure 7] It is a flowchart showing the processing for generating a changed route in one embodiment. [Figure 8] It is a diagram for explaining the processing for generating a changed route in one embodiment. [Figure 9] It is a diagram for explaining the processing for generating a changed route in one embodiment. [Figure 10] It is a diagram for explaining the processing for generating a changed route in one embodiment. [Figure 11] It is a diagram for explaining the processing for generating a changed route in one embodiment. [Figure 12A] It is a flowchart showing the processing for generating a changed route in one embodiment. [Figure 12B] It is a flowchart showing the processing for generating a changed route in one embodiment. [Figure 13] It is a diagram for explaining the processing for generating a changed route in one embodiment. [Figure 14] It is a diagram for explaining the processing for generating a changed route in one embodiment. [Figure 15] It is a diagram for explaining the processing for generating a changed route in one embodiment. [Figure 16] It is a diagram for explaining the processing for generating a changed route in one embodiment.

Embodiments for Carrying Out the Invention

[0013] (Embodiment 1) An autonomous driving system 100 according to this embodiment of the present invention will be described with reference to the drawings. In this embodiment, a farm field 10 in which work such as plowing, leveling, fertilizing, harvesting, etc. is performed using a work vehicle 130 has a central work area 11 and a headland 12 surrounding the work area 11, as shown in FIG. 1. The work area 11 represents an area in which work is performed to cultivate crops. The headland 12 is provided for the work vehicle 130 to turn, for example. The work vehicle 130 moves automatically along a work path 140 that is set in advance. The work vehicle 130 includes a vehicle that pulls a work machine, such as a tractor, and a vehicle formed integrally with the work machine, such as a combine. The work vehicle 130 performs work using the work machine in the farm field 10 by moving along the work path 140 within the farm field 10.

[0014] The work vehicle 130 performs work in the field 10, consuming materials loaded on the work machine, such as seedlings, fertilizer, and pesticides. When the amount of materials loaded on the work machine becomes low, the work vehicle 130 deviates from the work path 140 and moves to a predetermined stop position 13 to replenish the materials. The work vehicle 130 stops at the stop position 13 so that its traveling direction faces a predetermined direction, for example, a direction that allows easy replenishment of materials. Furthermore, when the work vehicle 130 moves off the work path 140, it may move without stopping. This allows the worker to work efficiently.

[0015] The work vehicle 130 also works in the farm field 10 while storing the harvested crops. When the amount of crops stored in the work machine becomes large, the work vehicle 130 deviates from the work path 140 and moves to a predetermined stopping position 13 in order to discharge the crops. In this case as well, by stopping the work vehicle 130 so that its traveling direction faces a predetermined direction, the worker can work efficiently.

[0016] (Configuration of Autonomous Driving System) As shown in FIG. 2, the autonomous driving system 100 includes a terminal 110 and a work vehicle 130. The terminal 110 generates a route for the work vehicle 130 to travel within a farm field. The terminal 110 includes, for example, a computer, a tablet, a mobile phone, and the like. The terminal 110 includes an input / output device 111, a communication device 112, a storage device 113, and a calculation device 114. Information for the calculation device 114 to execute processing is input to the input / output device 111. The input / output device 111 also outputs the results of the processing executed by the calculation device 114. The input / output device 111 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

[0017] The communication device 112 communicates with the communication device 131 of the work vehicle 130. The communication device 112 transfers each piece of information acquired from the work vehicle 130 to the calculation device 114. In addition, the communication device 112 transfers signals generated by the calculation device 114 to the communication device 131 of the work vehicle 130. The communication device 112 includes various interfaces, such as a wireless LAN (Local Area Network) transceiver, a NIC (Network Interface Card), and a USB (Universal Serial Bus).

[0018] The storage device 113 stores various data for setting a route for the work vehicle 130, for example, a route setting program 200. The storage device 113 is used as a non-transitory tangible storage medium for storing the route setting program 200. The route setting program 200 may be provided as a computer program product recorded in a computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.

[0019] The arithmetic device 114 reads out the route setting program 200 from the storage device 113 and executes it to perform various data processing for setting a route for the work vehicle 130. By executing the route setting program 200, the arithmetic device 114 realizes a work route setting unit 210, a status confirmation unit 220, a stop position setting unit 230, and a modified route setting unit 240, as shown in Fig. 3. For example, the arithmetic device 114 includes a central processing unit (CPU; Central Processing Unit) and the like.

[0020] The work path setting unit 210 generates a work path 140 along which the work vehicle 130 moves when work is being performed in the field 10. The status confirmation unit 220 acquires the position of the work vehicle 130 in the field 10 at each time and confirms the work status within the field. The stop position setting unit 230 sets the stop position 13 where the work vehicle 130 stops when replenishing materials, etc. The changed path setting unit 240 generates a changed path for when the work vehicle 130 moves to the stop position 13.

[0021] Next, the configuration of the work vehicle 130 will be described. As shown in Fig. 2, the work vehicle 130 is equipped with a communication device 131, a positioning device 132, and a control device 133. The communication device 131 communicates with the communication device 112 of the terminal 110. The communication device 131 transfers each piece of information acquired from the arithmetic device 114 of the terminal 110 to the control device 133. In addition, the communication device 131 transfers signals generated by the control device 133 to the communication device 112 of the terminal 110. The communication device 131 includes various interfaces, for example, a wireless LAN (Local Area Network) transceiver, a NIC (Network Interface Card), and a USB (Universal Serial Bus).

[0022] The positioning device 132 measures the position of the work vehicle 130. The positioning device 132 is, for example, a GNSS (Global Navigation Satellite System) receiver, and receives signals from artificial satellites and ground base stations to measure the position of the work vehicle 130 at each time. Position information indicating the measured time and position is transmitted to the control device 133.

[0023] The control device 133 controls each part of the work vehicle 130 to realize the vehicle control unit 260 shown in FIG. 3. The vehicle control unit 260 acquires the position information of the work vehicle 130 from the positioning device 132, and performs operations of the work vehicle 130, such as acceleration, steering, braking, etc., and moves the work vehicle 130 along the path acquired from the terminal 110. Further, the vehicle control unit 260 controls the operation of the work vehicle 130 to perform work in the field 10. For example, the control device 133 includes an arithmetic device such as a central processing unit (CPU; Central Processing Unit).

[0024] (Operation of the autonomous driving system) When the work vehicle 130 moves to the position where the work in the field 10 starts and the operator inputs an operation for starting the work to the terminal 110, the terminal 110 executes the process shown in FIG. 4 which is a path setting method. In step S110, the work path setting unit 210 realized by the arithmetic device 114 of the terminal 110 generates a work path 140 for the vehicle control unit 260 of the work vehicle 130 and a work start signal indicating the start of work. When receiving the work start signal, the vehicle control unit 260 controls the work vehicle 130 to automatically move along the work path 140 represented by the work start signal. Further, the vehicle control unit 260 controls the operation of the work machine based on the work start signal. Note that the work path 140 is set before starting the work and stored in the storage device 113 of the terminal 110.

[0025] In step S120, the situation confirmation unit 220 acquires position information from the vehicle control unit 260 of the work vehicle 130. Specifically, the vehicle control unit 260 transmits the position information measured by the positioning device 132 to the situation confirmation unit 220. The situation confirmation unit 220 acquires the position of the work vehicle 130 at each time from the acquired position information. Based on the acquired position of the work vehicle 130, the situation confirmation unit 220 acquires the position of the work vehicle 130 on the work path 140. The situation confirmation unit 220 may acquire the state of the work vehicle 130, such as the current position, traveling direction, speed, etc., based on the acquired position of the work vehicle 130 at each time.

[0026] In step S130, the status confirmation unit 220 determines whether a route change operation for moving the work vehicle 130 to the stop position 13 has been input to the input / output device 111 of the terminal 110. For example, the status confirmation unit 220 displays a route change button on the input / output device 111 of the terminal 110 to accept the route change operation by the user. When the user selects the route change button on the input / output device 111 of the terminal 110, the status confirmation unit 220 determines that a route change operation has been input. When the status confirmation unit 220 determines that a route change operation has not been input, it returns to the processing of step S120 and repeats the processing. When the status confirmation unit 220 determines that a route change operation has been input, the processing proceeds to step S140.

[0027] In step S140, the change route setting unit 240 determines the change start position 155 of the work vehicle 130 when changing from the work route 140 to the changed route based on the current position of the work vehicle 130. The change route setting unit 240 acquires the delay time from when the route change operation is input until the route of the work vehicle 130 is changed. The delay time is determined, for example, based on the processing time for generating the changed route. The change route setting unit 240 determines the position of the work vehicle 130 after the time when the route change operation is input by a change waiting time representing a time equal to or longer than the acquired delay time, based on the current position of the work vehicle 130. For example, as shown in FIG. 5, the change route setting unit 240 calculates the assumed movement route 150 along which the work vehicle 130 moves for a predetermined time along the work route 140. The change route setting unit 240 determines the end point of the assumed movement route 150 as the change start position 155. Furthermore, the changed route setting unit 240 may determine the assumed travel route 150 as a route along which the work vehicle 130 moves a predetermined distance, for example, 1 m, in the travel direction. In this case, the predetermined distance is determined to be greater than the distance traveled by the work vehicle 130 during the delay time. Furthermore, the delay time may be stored in the storage device 113 in advance, or may be calculated based on a history of the time required for each process, for example, a communication delay between the terminal 110 and the work vehicle 130.

[0028] In step S150 shown in FIG. 4, the stop position setting unit 230 selects the stop position 13 and the stop direction 14 representing the traveling direction of the work vehicle 130 when stopped at the stop position 13 in response to the user's input. For example, as shown in FIG. 6, the user selects the stop position 13 on the map of the farm field 10 displayed on the input / output device 111 of the terminal 110. The stop position setting unit 230 sets the selected stop position 13 as the destination of the changed route. Furthermore, the user selects the stop direction 14 representing the traveling direction when the work vehicle 130 stops at the stop position 13. The stop position setting unit 230 sets the selected stop direction 14 as the traveling direction when the work vehicle 130 reaches the stop position 13. The stop position 13 and the stop direction 14 may be set in advance or may be selected from a plurality of combinations.

[0029] 4, the changed route setting unit 240 generates a changed route that has the changed start position 155 as its start point and the stop position 13 as its end point. The method of generating the changed route will be described later.

[0030] In step S170, the changed route setting unit 240 generates a change start signal indicating the changed route to the vehicle control unit 260 of the work vehicle 130. Upon receiving the change start signal, the vehicle control unit 260 changes the route after the change start position 155 to the changed route indicated in the change start signal. Therefore, the vehicle control unit 260 controls the work vehicle 130 to move along the work route 140 to the change start position 155, and then automatically move from the change start position 155 along the changed route without stopping.

[0031] Furthermore, the status confirmation unit 220 acquires position information from the vehicle control unit 260 of the work vehicle 130. Specifically, the vehicle control unit 260 transmits position information measured by the positioning device 132 to the status confirmation unit 220. The status confirmation unit 220 acquires the position of the work vehicle 130 at each time from the acquired position information.

[0032] In step S180, the status confirmation unit 220 confirms that the work vehicle 130 has reached and stopped at the stop position 13. When the status confirmation unit 220 confirms that the work vehicle 130 has stopped, it ends the process.

[0033] In this way, the calculation device 114 generates a modified route so that the work vehicle 130 faces the set stopping direction 14 and stops at the stopping position 13. The vehicle control unit 260 moves the work vehicle 130 along the generated modified route. In this way, the autonomous driving method allows the work vehicle 130 to move to the set stopping position 13 so that its traveling direction is the set stopping direction.

[0034] (How to generate a modified route) Next, a method for generating a changed route will be described. The arithmetic device 114 of the terminal 110 executes the process shown in Fig. 7 to generate a changed route. In step S210, the changed route setting unit 240 implemented by the arithmetic device 114 of the terminal 110 generates a first route 410 based on the stop position 13. Specifically, as shown in Fig. 8, the changed route setting unit 240 sets a line segment that ends at the stop position 13 and extends a predetermined distance, for example, 1 m, in the opposite direction to the stop direction 14 as the first route 410. The first route 410 indicates that the work vehicle 130 proceeds in the stop direction 14 along the set line segment.

[0035] In step S220 shown in FIG. 7, the changed route setting unit 240 generates a first circle 420 tangent to the first route 410, and generates a route for the work vehicle 130 to enter the first route 410. As shown in FIG. 8, the changed route setting unit 240 generates the first circle 420 tangent to the first route 410, with the first start point 415 of the first route 410 as a tangent point. More specifically, the first circle 420 is generated so as to be tangent to a straight line including the first route 410. In the example of FIG. 8, the work vehicle 130 moves along the first route 410 by changing the traveling direction to the right along the circumference of the first circle 420 and moving clockwise around the circumference of the first circle 420. Here, the first circle 420 has a minimum turning radius that represents the minimum radius at which the work vehicle 130 can turn.

[0036] In step S230 shown in FIG. 7, the change route setting unit 240 determines whether the angle between the first tangent 430 that passes through the change start position 155 and is tangent to the first circle 420 and the assumed movement route 150 until the work vehicle 130 moves to the change start position 155 is less than a threshold value. Specifically, as shown in FIG. 8, the change route setting unit 240 generates the first tangent 430 that passes through the change start position 155 and is tangent to the first circle 420. Next, as shown in FIG. 9, a first angle 450 formed between the assumed movement route 150 and the first tangent 430 is calculated. The change route setting unit 240 compares the calculated first angle 450 with a threshold value, and executes the process of step S240 when the first angle 450 is smaller than the threshold value. The change route setting unit 240 executes the process of step S260 when the first angle 450 is equal to or greater than the threshold value. The threshold value is determined based on the angle at which the turning radius can be ignored when changing the traveling direction of the work vehicle 130. For example, when the turning radius of the work vehicle 130 can be ignored if the angle at which the traveling direction of the work vehicle 130 is changed is 45 degrees or less, the threshold value is 135 degrees.

[0037] In step S240, the change route setting unit 240 generates a second circle 440 with a tangent point at the end point of the assumed movement route 150 so that the work vehicle 130 turns toward the first circle 420. As shown in FIG. 10, the change route setting unit 240 generates the second circle 440 with a tangent point at the change start position 155, which is the end point of the assumed movement route 150, and tangent to the assumed movement route 150. More specifically, the second circle 440 is generated so as to be tangent to a straight line extending in the traveling direction of the work vehicle 130 at the end point of the assumed movement route 150. In the example of FIG. 10, the work vehicle 130 changes its traveling direction to the right along the circumference of the second circle 440 and moves clockwise around the circumference of the second circle 440, thereby directing the traveling direction of the work vehicle 130 toward the first circle 420. Here, the second circle 440 has a minimum turning radius that represents the minimum radius at which the work vehicle 130 can turn.

[0038] In step S250, the changed route setting unit 240 generates a second tangent 460 that is tangent to the first circle 420 and the second circle 440. As shown in FIG. 10, the second tangent 460 represents a route when the work vehicle 130 moves from the second circle 440 to the first circle 420. The circumference of the second circle 440 is a route along which the work vehicle 130 moves clockwise. For this reason, the changed route setting unit 240 generates the second tangent 460 so that the second circle 440 is located to the right of the work vehicle 130 when the work vehicle 130 moves along the second tangent 460. In addition, the circumference of the first circle 420 is also a route along which the work vehicle 130 moves clockwise. For this reason, the changed route setting unit 240 generates the second tangent 460 so that the first circle 420 is located to the right of the work vehicle 130 when the work vehicle 130 moves along the second tangent 460. In this manner, the second tangent 460 is generated according to the direction in which the work vehicle 130 turns when moving between the circumference of the first circle 420 and the circumference of the second circle 440 .

[0039] In step S260, the modified path setting unit 240 generates a modified path that connects the generated circles and line segments. In the example shown in FIG. 11, the modified path setting unit 240 sets a path that connects the circumference of the second circle 440, the second tangent 460, the circumference of the first circle 420, and the first path 410 as the modified path 500. Specifically, as shown in FIG. 10, an arc that starts from the modification start position 155 of the circumference of the second circle 440 and connects the circumference of the second circle 440 in a clockwise direction with the tangency with the second tangent 460 as the end point is set as a part of the modified path 500. A line segment that starts from the tangency with the second circle 440 of the second tangent 460 and ends at the tangency with the first circle 420 of the second tangent 460 is set as a part of the modified path 500. An arc that connects the circumference of the first circle 420 in a clockwise direction from the point of contact with the second tangent 460 as the start point to the point of contact with the first path 410 (first starting point 415) as the end point is set as a part of the changed path 500. In this manner, the changed path setting unit 240 generates the changed path 500 that connects the arc that is set as the changed path 500 on the circumference of the second circle 440, the line segment that is set as the changed path 500 on the second tangent 460, the arc that is set as the changed path 500 on the circumference of the first circle 420, and the first path 410, and ends the process of generating the changed path 500.

[0040] When the result of the determination in step S230 is NO, specifically when the first angle 450 between the first tangent 430 and the assumed movement path 150 is equal to or greater than the threshold value, the modified path setting unit 240 does not generate the second circle 440. For this reason, the modified path setting unit 240 generates, for example, a modified path 500 that connects the generated first tangent 430, the circumference of the first circle 420, and the first path 410.

[0041] As described above, the autonomous driving system 100 can control the work vehicle 130 to deviate from the work path 140 and move to a predetermined stop position 13. Furthermore, the work vehicle 130 stops so that its direction of travel faces a predetermined direction. Also, the work vehicle 130 transitions from the work path 140 to the changed path 500 without stopping. In this way, the autonomous driving system 100 allows the worker to perform work efficiently.

[0042] (Embodiment 2) The autonomous driving system 100 may move the work vehicle 130 to the stop position 13 without setting the travel direction of the work vehicle 130 at the stop position 13. For example, the autonomous driving system 100 may move the work vehicle 130 to the stop position 13 so that the time it takes to move to the stop position 13 is shortened. This allows the worker to move the work vehicle 130 depending on whether the worker prioritizes the travel direction of the work vehicle 130 at the stop position 13 or the time required to move to the stop position 13. For example, when the worker selects the time required to move to the stop position 13 as a priority, the autonomous driving system 100 moves the work vehicle 130 to the stop position 13 via the shortest route. The configuration of the autonomous driving system 100 is the same as that of the first embodiment, and therefore will not be described.

[0043] (Autonomous Driving System Operation) When the work vehicle 130 moves to a position to start work in the field 10 and the worker inputs an operation to start work into the terminal 110, the terminal 110 executes the process shown in Fig. 4 as in embodiment 1. The operation of the autonomous driving system 100 is the same as in embodiment 1 except for the process of generating the changed route 500, so a description of the process shown in Fig. 4 will be omitted.

[0044] (How to generate a modified route) The arithmetic device 114 of the terminal 110 executes the processing shown in Figures 12A and 12B to generate the changed route 500. In step S205, the changed route setting unit 240 implemented by the arithmetic device 114 of the terminal 110 determines whether the stopping direction 14 of the work vehicle 130 at the stopping position 13 is set. When the stopping direction 14 is set, the changed route setting unit 240 executes the processing of step S210. When the stopping direction 14 is not set, the changed route setting unit 240 executes the processing of step S330 shown in Figure 12B.

[0045] The processes from step S210 to step S260 shown in FIG. 12A are similar to those in the first embodiment, and therefore the description thereof will be omitted.

[0046] In step S330 shown in FIG. 12B, the change route setting unit 240 determines whether the angle between the line segment connecting the change start position 155 and the stop position 13 and the assumed movement route 150 until the work vehicle 130 moves to the change start position 155 is less than a threshold value. Specifically, the change route setting unit 240 generates a first line segment 630 connecting the change start position 155 and the stop position 13 as shown in FIG. 13. Next, as shown in FIG. 14, a second angle 650 between the assumed movement route 150 and the first line segment 630 is calculated. The change route setting unit 240 compares the calculated second angle 650 with a threshold value, and executes the process of step S340 when the second angle 650 is smaller than the threshold value. The change route setting unit 240 executes the process of step S360 when the second angle 650 is equal to or greater than the threshold value. The threshold value is determined based on an angle at which the turning radius can be ignored when the work vehicle 130 changes the traveling direction.

[0047] In step S340 shown in FIG. 12B, the changed route setting unit 240 generates a second circle 440 with a tangent point at the end point of the assumed movement route 150 so that the work vehicle 130 turns toward the stop position 13. As shown in FIG. 15, the changed route setting unit 240 generates a second circle 440 with a tangent point at the change start position 155, which is the end point of the assumed movement route 150, and tangent to the assumed movement route 150. In the example of FIG. 15, the work vehicle 130 changes its traveling direction to the right along the circumference of the second circle 440, and moves clockwise around the circumference of the second circle 440, thereby directing the traveling direction of the work vehicle 130 toward the stop position 13. Here, the second circle 440 has a minimum turning radius that represents the minimum radius around which the work vehicle 130 can turn.

[0048] In step S350, the changed route setting unit 240 generates a third tangent 660 that passes through the stop position 13 and is tangent to the second circle 440. As shown in FIG. 15, the third tangent 660 represents the route when the work vehicle 130 moves from the second circle 440 to the stop position 13. The circumference of the second circle 440 is the route along which the work vehicle 130 moves clockwise. For this reason, the changed route setting unit 240 generates the third tangent 660 so that when the work vehicle 130 moves along the third tangent 660, the second circle 440 is located to the right of the work vehicle 130. In this way, the third tangent 660 is generated according to the direction in which the work vehicle 130 turns when moving on the circumference of the second circle 440.

[0049] In step S360, the modified route setting unit 240 generates a modified route 500 that connects the generated circles and line segments. In the example shown in FIG. 16, the modified route setting unit 240 sets a route that connects the circumference of the second circle 440, the second tangent 460, the circumference of the first circle 420, and the first route 410 as the modified route 500. Specifically, as shown in FIG. 15, an arc that starts from the modification start position 155 on the circumference of the second circle 440 and connects the circumference of the second circle 440 in a clockwise direction with the tangent point with the third tangent 660 as the end point is set as a part of the modified route 500. A line segment that starts from the tangent point with the second circle 440 on the third tangent 660 and ends at the stop position 13 is set as a part of the modified route 500. In this way, the modified path setting unit 240 generates, as the modified path 500, a path connecting the arc of the circumference of the second circle 440 that is set as the modified path 500 and the line segment of the third tangent 660 that is set as the modified path 500, and terminates the process of generating the modified path 500.

[0050] When the result of the determination in step S330 is NO, specifically when the second angle 650 between the third tangent 660 and the assumed movement path 150 is equal to or greater than the threshold value, the changed path setting unit 240 does not generate the second circle 440. For this reason, the changed path setting unit 240 generates, for example, a first line segment 630 connecting the generated changed start position 155 and the stop position 13 as the changed path 500.

[0051] As described above, by not setting the stop direction 14, the autonomous driving system 100 can move the work vehicle 130 so as to shorten the time required to move to the stop position 13. This allows the worker to select a changed route 500 according to the situation. When the stop direction 14 is not set, the changed route setting unit 240 may generate, as the changed route 500, the shortest route that minimizes the distance traveled from the change start position 155 to the stop position 13.

[0052] (Modification) The configuration described in the embodiment is an example, and the configuration can be changed to the extent that the function is not impaired. Although an example has been shown in which the status confirmation unit 220 moves the work vehicle 130 to the stop position 13 based on the input of a route change operation, the present invention is not limited to this. The status confirmation unit 220 may move the work vehicle 130 to the stop position 13 based on a predetermined instruction. For example, the status confirmation unit 220 may move the work vehicle 130 by a supply instruction indicating that materials, such as seedlings, fertilizers, and pesticides, loaded on the work vehicle 130 are to be replenished. In this case, the status confirmation unit 220 acquires the amount of materials loaded from the work vehicle 130. When the acquired amount of materials is smaller than a threshold value, the status confirmation unit 220 determines that a supply instruction to replenish materials has been input. In addition, the status confirmation unit 220 may determine that a supply instruction has been input by a user inputting an operation to replenish materials.

[0053] Furthermore, the status confirmation unit 220 may move the work vehicle 130 to the stop position 13 based on a discharge instruction indicating that the harvested crops are to be discharged. For example, the status confirmation unit 220 acquires the amount of stored crops from the work vehicle 130. When the acquired amount of crops is greater than a threshold value, the status confirmation unit 220 determines that a discharge instruction to discharge the crops has been input. Furthermore, the status confirmation unit 220 may determine that a discharge instruction has been input by a user inputting an operation to replenish materials.

[0054] Furthermore, the status confirmation unit 220 may move the work vehicle 130 to a stop position 13 set outside the work area 11 based on an evacuation instruction indicating to evacuate from the work area 11. For example, the status confirmation unit 220 receives an evacuation operation from a user to evacuate the work vehicle 130 to the stop position 13. When the status confirmation unit 220 receives the evacuation operation, it determines that an evacuation instruction has been input. When the evacuation instruction is input, the changed route setting unit 240 generates a changed route 500 for moving the work vehicle 130 to the stop position 13.

[0055] When the changed route 500 is generated, the changed route setting unit 240 may change the changed route 500 when the changed route 500 passes through a travel-prohibited area, for example, the outside of the field 10. For example, when the changed route 500 passes through a travel-prohibited area, the changed route setting unit 240 changes the changed route 500 so that the work vehicle 130 moves along the boundary of the travel-prohibited area, for example, the boundary between the field 10 and the outside. Specifically, when the work vehicle 130 moves along the generated changed route 500, the changed route setting unit 240 extracts a position at which the work vehicle 130 enters the travel-prohibited area, for example, a position at which the work vehicle 130 exits to the outside of the field 10, as a starting point. In addition, when the work vehicle 130 moves along the generated changed route 500, the changed route setting unit 240 extracts a position at which the work vehicle 130 exits the travel-prohibited area, for example, a position at which the work vehicle 130 enters from the outside of the field 10, as an end point. The changed route setting unit 240 generates a detour route that connects the extracted start point to the end point along the periphery of the travel-prohibited area, for example, along the boundary between the field 10 and the outside. The changed route setting unit 240 changes the route included in the travel-prohibited area of ​​the changed route 500 to the generated detour route. As a result, the changed route 500 that does not pass through the travel-prohibited area is generated. Note that the travel-prohibited area represents, for example, the outside of the field 10, and may be changed by the user.

[0056] The positioning device 132 may be selected arbitrarily as long as it can measure the position of the work vehicle 130. For example, the positioning device 132 may measure the position of the work vehicle 130 by acquiring the speed, traveling direction, etc. of the work vehicle 130 and calculating the movement route of the work vehicle 130.

[0057] In step S205 shown in FIG. 12A, the change route setting unit 240 may determine which of the stop direction 14 and the time required to move to the stop position 13 is to be prioritized. For example, the situation confirmation unit 220 accepts which of the stop direction 14 and the time required to move to the stop position 13 is to be prioritized. When inputting a route change operation to the input / output device 111 of the terminal 110, the user inputs which of the stop direction 14 and the time required to move to the stop position 13 is to be prioritized. When a direction priority instruction indicating that the stop direction 14 is to be prioritized is input, the change route setting unit 240 proceeds to processing of step S210. When a time priority instruction indicating that the time required to move to the stop position 13 is to be prioritized is input, the change route setting unit 240 proceeds to processing of step S330.

[0058] Although an example has been shown in which the stop position 13 is set within the field 10, the present invention is not limited thereto and the stop position 13 may be set outside the field 10, for example, in another adjacent field. In this case, the changed route setting unit 240 generates a changed route 500 for the work vehicle 130 to move from the field 10 to the other adjacent field. The vehicle control unit 260 moves the work vehicle 130 from the field 10 to the other adjacent field by moving the work vehicle 130 along the generated changed route 500.

[0059] The above-described embodiment and modified examples are merely examples, and the configurations described in each embodiment and modified example may be arbitrarily modified and / or arbitrarily combined as long as the functions are not impaired. Furthermore, some of the functions described in the embodiment and modified examples may be omitted as long as the necessary functions can be realized. For example, the terminal 110 may be realized by a plurality of terminals 110, and the terminal 110 may be a route setting device including a situation confirmation unit 220 and a changed route setting unit 240. The terminal 110 may also be an autonomous driving system including a vehicle control unit 260.

[0060] Furthermore, the changed route setting unit 240 may perform only a part of the processing. For example, the autonomous driving system 100 may control the work vehicle 130 to stop when the work vehicle 130 changes from the work route 140 to the changed route 500. In this case, in step S140 of FIG. 4, the changed route setting unit 240 performs processing with the change start position 155 of the work vehicle 130 when changing the route as the current position of the work vehicle 130. Furthermore, the autonomous driving system 100 may omit the processing of setting the stop direction 14 and not control the traveling direction of the work vehicle 130 at the stop position 13. [Explanation of symbols]

[0061] 1:Storage medium 10: Field 11:Work area 12: Headland 13: Stop position 14: Stop direction 100: Autonomous Driving System 110: Terminal 111: Input / Output device 112: Communication equipment 113: Storage device 114: Arithmetic device 130: Work vehicle 131: Communication equipment 132: Positioning device 133: Control device 140: Work route 150: Estimated movement route 155: Change start position (start point of the changed route) 200: Route setting program 210: Work path setting unit 220: Status Check Department 230: Stop position setting section 240: Change route setting section 260: Vehicle control unit 410: Route 1 415: First starting point 420: 1st Circle 430 :1st tangent 440: 2nd Circle 450: First angle 460 :Second tangent 500: Change route 630: First line segment 650: Second angle 660 :Third tangent

Claims

1. a vehicle control unit that moves a work vehicle moving in a field along a preset work path to a stopping position that is not included in the work path; a stop direction receiving unit that receives stop direction information regarding a stop direction of the work vehicle at the stop position; an altered route setting unit that, when the stop direction is not set in the stop direction information, generates an altered route without setting the stop direction so as to shorten a time or a distance required to move to the stop position; An autonomous driving system comprising:

2. The modified route setting unit generates a modified route for moving the work vehicle to the stop position based on the stop position and the stop direction when the stop direction is set in the stop direction information. The autonomous driving system according to claim 1 .

3. moving a work vehicle moving in a farm field along a preset work path to a stopping position not included in the work path; Receiving stop direction information regarding a stop direction of the work vehicle at the stop position; generating a modified route so that a time or a distance required to move to the stop position is shortened without setting the stop direction when the stop direction is not set in the stop direction information; An autonomous driving method comprising:

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