Work vehicle and automatic driving control system for work vehicle

Abstract

To provide a work vehicle capable of resuming automatic travel according to a request of an operator, even in the case where the work vehicle stops on the basis of output of a detection device.SOLUTION: A work vehicle includes: a travel device; a detection device for detecting a situation around a machine body; an automatic travel control part for controlling the travel device and allowing the machine body to perform automatic travel; a vehicle stop instruction part for issuing a vehicle stop instruction to the automatic travel control part on the basis of the output of the detection device; an operation reception part for receiving manual operation to an effect that the vehicle stop instruction should be ignored; and a resumption part for giving an instruction to the automatic travel control part to ignore the vehicle stop instruction and resume automatic travel, according to the fact that the operation reception part has received the manual operation while the vehicle is stopped according to the vehicle stop instruction.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] For example, the work vehicle (referred to as an "agricultural work machine" in the document) disclosed in Patent Document 1 is equipped with a detection device (referred to as an "imaging device" in the document) that detects the conditions around the vehicle, and a travel control unit that controls the travel device to make the vehicle travel automatically. Depending on the pattern of objects detected by the detection device, the work vehicle slows down or stops. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-178619 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there are various types of objects that detection devices can detect. For this reason, it can be difficult for the detection device to accurately detect whether the conditions around the vehicle are suitable for the work vehicle's automatic driving. For example, even if the conditions around the vehicle are suitable for the work vehicle's automatic driving, if the work vehicle stops based on the output of the detection device, the operator may need to remove objects around the vehicle or manually drive the work vehicle to a position where the work vehicle will not stop. This can be cumbersome for the operator.

[0005] An object of the present invention is to improve the convenience of an automatically traveling work vehicle. [Means for solving the problem]

[0006] The work vehicle of the present invention is equipped with a traveling device, a detection device that detects the situation around the vehicle, an automatic traveling control unit that controls the traveling device to cause the vehicle to travel automatically, a stop instruction unit that issues a stop instruction to the automatic traveling control unit based on the output of the detection device, an operation reception unit that receives a manual operation to ignore the stop instruction, and a restart unit that, in response to the operation reception unit receiving the manual operation while the vehicle is stopped in response to the stop instruction, instructs the automatic traveling control unit to ignore the stop instruction and restart the automatic traveling. The restart unit is configured to instruct the automatic driving control unit to restart the automatic driving when the manual operation to the operation reception unit continues while the detection device is detecting the situation around the vehicle, and is configured to give priority to the stop instruction to the automatic driving control unit when the manual operation to the operation reception unit continues for more than a predetermined set time while the detection device is detecting the situation around the vehicle, or when the manual operation to the operation reception unit has ended while the detection device is detecting the situation around the vehicle. It is characterized by the fact that

[0007] According to the present invention, even if the work vehicle has stopped based on the output of the detection device, when the operator operates the operation reception unit, the restart unit instructs the automatic driving control unit to ignore the stop instruction and resume automatic driving. This allows the operator to resume automatic driving of the work vehicle without removing objects around the machine or manually driving the work vehicle to a position where it will not stop. Furthermore, with this configuration, the work vehicle continues to travel autonomously if the operator continues to operate the operation reception unit, and stops traveling autonomously if the operator stops operating the operation reception unit. In other words, the operator can choose whether to continue temporary autonomous traveling of the work vehicle depending on whether or not to operate the operation reception unit. Furthermore, with this configuration, it is possible to limit the temporary resumption of autonomous traveling based on operation of the operation reception unit to a set time. This reduces the risk of the operator continuing autonomous traveling for a long period of time by continuing to operate the operation reception unit unnecessarily. This makes it possible to realize a work vehicle that can resume automatic driving at the operator's request, even if the work vehicle has stopped based on the output of the detection device.

[0008] The technical features of the present invention can also be applied to an automatic driving control system for a work vehicle that can be driven automatically by a driving device. The automatic driving control system of the present invention includes a detection device that detects the surrounding conditions of the work vehicle, an automatic driving control unit that controls the driving device to drive the work vehicle automatically, a stop instruction unit that issues a stop instruction to the automatic driving control unit based on the output of the detection device, an operation reception unit that receives a manual operation to ignore the stop instruction, and a resume unit that, in response to the operation reception unit receiving the manual operation while the work vehicle is stopped in accordance with the stop instruction, instructs the automatic driving control unit to ignore the stop instruction and resume the automatic driving. The restart unit is configured to instruct the automatic driving control unit to restart the automatic driving when the manual operation to the operation reception unit continues while the detection device is detecting the situation around the work vehicle, and is configured to give priority to the stop instruction to the automatic driving control unit when the manual operation to the operation reception unit continues for more than a predetermined set time while the detection device is detecting the situation around the work vehicle, or when the manual operation to the operation reception unit has ended while the detection device is detecting the situation around the work vehicle. It is characterized by the fact that

[0009]

[0010]

[0011]

[0012]

[0013] In the present invention, it is preferable that the operation reception unit is configured to be able to receive the manual operation via remote control.

[0014] With this configuration, an operator away from the work vehicle can remotely operate the vehicle to resume automatic driving, further enhancing convenience for the operator.

[0015] In the present invention, it is preferable that a storage unit is provided that stores history information indicating that the automatic traveling has been resumed based on the manual operation.

[0016] This configuration makes it possible to grasp the frequency of restarting automatic driving based on operations of the operation reception unit.

[0017] In the present invention, it is preferable that a notification unit be provided that notifies that the automatic traveling has resumed based on the manual operation.

[0018] With this configuration, the resumption of automatic driving based on the operation of the operation reception unit is notified to an operator, a manager, or the like.

[0019] In the present invention, it is preferable that a plurality of the operation receiving units are provided, and the restarting unit is configured to instruct the automatic driving control unit to resume the automatic driving when the manual operation is performed on all of the plurality of operation receiving units.

[0020] This configuration reduces the risk of automatic driving being unexpectedly restarted due to an operator error. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. [Figure 2] FIG. 2 is a block diagram showing a configuration related to a control unit. [Figure 3] FIG. 10 is a flowchart showing the processing performed in the combine harvester. [Figure 4] FIG. 1 is a logic graph diagram showing the processing performed in the combine. DETAILED DESCRIPTION OF THE INVENTION

[0022] An embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow "F" in the drawings will be referred to as "front" and the direction of the arrow "B" will be referred to as "rear." Furthermore, the direction of the arrow "U" in the drawings will be referred to as "up" and the direction of the arrow "D" will be referred to as "down."

[0023] [Overall configuration of the combine] As shown in Figure 1, a standard combine harvester 1 (corresponding to the "work vehicle" of the present invention) is equipped with a harvesting section H, a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 3.

[0024] The traveling device 11 is provided at the bottom of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can travel by using the traveling device 11.

[0025] The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. An operator can ride in the driving section 12 to monitor the operation of the combine harvester 1. The operator may also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0026] An operation reception unit 12a (see FIG. 2), which will be described later, is provided in the driving unit 12. The operation reception unit 12a may be, for example, a touch panel input device, a lever, or a button.

[0027] The grain discharge device 18 is provided above the grain tank 14. The satellite positioning module 3 is attached to the top surface of the driving unit 12.

[0028] The harvesting section H is provided at the front of the combine 1. The transport section 16 is provided behind the harvesting section H. The harvesting section H also includes a reaping device 15 and a reel 17.

[0029] The reaping device 15 reaps crops in the field. While not particularly limited, the crops may be, for example, wheat, barley, rice, soybeans, etc. The reel 17 rotates around a reel axis that runs along the left-right direction of the machine body, raking in the crops to be harvested. The crops reap by the reaping device 15 are sent to the conveying section 16.

[0030] With this configuration, the harvesting section H harvests crops in the field. The combine 1 is capable of reaping travel, traveling by the traveling device 11 while reaping crops in the field with the reaping device 15.

[0031] The crops harvested by the harvesting section H are transported to the rear of the machine body by the transport section 16. In this way, the crops are transported to the threshing device 13.

[0032] The crop is threshed in the threshing device 13. The harvested material (grains) obtained by the threshing process is stored in a grain tank 14. The harvested material stored in the grain tank 14 is discharged outside the machine by a grain discharge device 18 as needed.

[0033] [Automatic driving of combine harvesters] The combine harvester 1 is configured to be capable of automatic travel in a field where crops are planted. Automatic travel includes travel while working and travel without working.

[0034] In this embodiment, automatic driving, manual driving, and automatic steering driving are defined as follows: Automatic driving is driving in which both vehicle speed and steering are automatically controlled by the control device 20. No manual operation is required during automatic driving. Manual driving is driving in which vehicle speed and steering are controlled based on manual operation. Automatic steering driving is driving in which vehicle speed is controlled based on manual operation, and steering is automatically controlled by the control device 20.

[0035] The combine harvester 1 first travels around the periphery of the field while harvesting crops, and then travels to harvest in the target work area of ​​the field, thereby harvesting the crops in the field.

[0036] The peripheral area is the area on the outer periphery of the field, and the work area is the area surrounded by the peripheral area.

[0037] In this embodiment, the circular travel in the outer peripheral area is performed by manual travel. However, the present invention is not limited to this, and some or all of the circular travel may be performed by automatic travel or automatic steering travel. The reaping travel in the work area is performed by automatic travel. In other words, the combine harvester 1 is capable of automatic work travel.

[0038] In this embodiment, the number of revolutions in the outer circumferential region is one. However, the present invention is not limited to this, and the number of revolutions in the outer circumferential region may be a number other than one (for example, two or three).

[0039] The combine harvester 1 is equipped with a detection device 2. The detection device 2 detects objects around the vehicle by emitting inspection waves, which are electromagnetic waves or sound waves, and measuring the reflected waves. In this embodiment, the detection device 2 is a radar, and the inspection waves and reflected waves are radio waves. The detection device 2 is a measurement device that uses a ToF (Time of Flight) measurement method. The detection device 2 may be a laser scanner (LiDar). The detection device 2 may be a sonar. In this case, the inspection waves and reflected waves are sound waves.

[0040] In the combine harvester 1 of this embodiment, automatic traveling, manual traveling, and automatic steering traveling are controlled based on the result of obstacle detection from the detection device 2. For example, deceleration, steering, or stopping is performed based on the detection by the detection device 2 of approaching an obstacle (such as a worker).

[0041] The combine harvester 1 includes a satellite positioning module 3. The satellite positioning module 3 receives positioning signals from artificial satellites GS used in GNSS (Global Navigation Satellite Systems, such as GPS, QZSS, Galileo, GLONASS, and BeiDou). Based on the received positioning signals, the satellite positioning module 3 generates positioning data indicating the vehicle position of the combine harvester 1.

[0042] [Control configuration] 2, the combine harvester 1 is equipped with a system including a control device 20. The control device 20 and each element included in the control device 20 may be a physical device such as a microcomputer, or may be a functional unit in software.

[0043] The detection device 2, the satellite positioning module 3, and the operation reception unit 12a are connected to the control device 20 via an input interface (not shown). When the detection device 2 detects an object around the body of the combine harvester 1, it outputs a detection signal indicating that the object has been detected to the control device 20. The satellite positioning module 3 outputs a positioning signal to the control device 20.

[0044] The control device 20 is configured to be able to control the traveling device 11, the harvesting unit H, the threshing device 13, and the notification unit 26 via an output interface (not shown). The notification unit 26 may be, for example, a sound output device such as a horn or speaker, or may be a display device capable of displaying messages, etc.

[0045] The control device 20 includes a driving control unit 21, a stop instruction unit 22, a storage unit 23, and a restart unit 24. The driving control unit 21 corresponds to the "automatic driving control unit" of the present invention.

[0046] The travel control unit 21 has a plurality of control modes. The plurality of control modes include a manual travel mode and an automatic travel mode. When the control mode is the manual travel mode, the travel control unit 21 controls the travel device 11, the harvesting unit H, the threshing device 13, etc. based on the manual operation (human operation) of the operator of the combine 1.

[0047] When the control mode is the automatic travel mode, the travel control unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 3. The travel control unit 21 then generates a field map based on the position coordinates. This field map includes a map showing the outline of the field and a map showing the work area where work will be performed. The map showing the outline of the field can be generated based on the position information acquired during circular travel in the outer periphery area.

[0048] The position coordinates may be the position coordinates of the satellite positioning module 3 of the combine 1, or may be the coordinates of the center position of the harvesting section H in the left-right direction.

[0049] When the control mode is the automatic travel mode, the travel control unit 21 generates a target travel route for automatic travel in the work target area of ​​the field map. Then, the travel control unit 21 controls the travel device 11 so that the combine 1 automatically travels along the target travel route based on the vehicle's position based on the positioning signal and the target travel route. At the same time, the travel control unit 21 controls the harvester H and the threshing device 13 so that they perform work travel in the work target area of ​​the field. In this way, the travel control unit 21 controls the travel device 11 to automatically travel the machine body.

[0050] When the detection device 2 detects an object around the combine harvester 1, it outputs a detection signal to the stop instruction unit 22. The stop instruction unit 22 issues a stop instruction to the travel control unit 21 based on the output of the detection device 2. This stops the automatic travel control of the combine harvester 1 based on the travel control unit 21. In other words, when the detection device 2 detects an object in the direction of travel of the combine harvester 1 while the combine harvester 1 is traveling automatically, the travel control unit 21 stops the travel device 11, and the combine harvester 1 stops.

[0051] The restart unit 24 is configured to be able to instruct the travel control unit 21 to ignore the stop instruction and resume automatic travel. In this embodiment, the operation acceptance unit 12a accepts a manual operation to ignore the stop instruction. When a manual operation is performed on the operation acceptance unit 12a, a signal is sent from the operation acceptance unit 12a to the restart unit 24. The restart unit 24 then transmits a resume signal to the travel control unit 21. This resumes automatic travel control of the combine harvester 1 based on the travel control unit 21. In other words, when the combine harvester 1 is stopped due to a stop instruction from the stop instruction unit 22, the restart unit 24 instructs the travel control unit 21 to ignore the stop instruction and resume automatic travel in response to the operation acceptance unit 12a accepting a manual operation.

[0052] The storage unit 23 stores software for implementing the functional units, temporary data generated by the functional units, pre-factory data, etc. In particular, the storage unit 23 stores history information indicating that autonomous driving has resumed based on a human operation. The storage unit 23 is, for example, a HDD or a non-volatile RAM. The notification unit 26 notifies the user that autonomous driving has resumed based on a human operation.

[0053] [Regarding the process of stopping and restarting automated driving] The process of stopping and restarting automatic driving will be described with reference to Figures 3 and 4. The flowchart shown in Figure 3 is executed as periodic processing at regular intervals when the control mode of the driving control unit 21 is in automatic driving mode. First, it is determined whether the detection device 2 has detected an object (step #01). If the detection device 2 has not detected an object (step #01: No), the automatic driving state continues (step #11).

[0054] In step #02, it is determined whether the operation reception unit 12a is operated. In addition, in step #03, it is determined whether automatic travel control of the combine 1 based on the travel control unit 21 is being executed. These determinations are made by processing of the control device 20.

[0055] If the detection device 2 detects an object (Step #01: Yes), the operation reception unit 12a is not operated (Step #02: No), and automatic travel control of the combine harvester 1 based on the travel control unit 21 is being executed (Step #03: Yes), the stop instruction unit 22 issues a stop instruction to the travel control unit 21 (Step #04). This causes the combine harvester 1 to be stopped (Step #05). Note that, if it is determined in Step #03 that automatic travel control of the combine harvester 1 based on the travel control unit 21 is not being executed (Step #03: No), the processing of Step #04 is not executed, and the combine harvester 1 remains stopped (Step #05). Note that in Step #05, the count value of a timer T1 (described later) is cleared to zero.

[0056] As described above, the operation reception unit 12a receives a manual operation to ignore the stop instruction. If the detection device 2 detects an object (Step #01: Yes) and the operation reception unit 12a is operated (Step #02: Yes), the timer T1 starts counting (Step #06). In Step #07, it is determined whether the timer T1 has continued counting for a predetermined period of time. If the timer T1 has not continued counting for a predetermined period of time (Step #07: No) and the automatic travel control of the combine harvester 1 based on the travel control unit 21 is not being executed (Step #08: No), the restart unit 24 instructs the travel control unit 21 to ignore the stop instruction and resume automatic travel (Step #09).

[0057] By performing the processing of step #09, the combine harvester 1 enters an automatic traveling state (step #11). At this time, history information indicating that automatic traveling has resumed based on manual operation is stored in the storage unit 23, and the notification unit 26 notifies the user that automatic traveling has resumed based on manual operation (step #10). The history information includes, for example, the time when automatic traveling resumed, the distance traveled, the weather, the type of object detected by the detection device 2, and the like.

[0058] If it is determined in step #08 that automatic travel control of the combine harvester 1 based on the travel control unit 21 is being executed (step #03: Yes), the processing of step #09 is not executed, and only the storage of history information by the memory unit 23 and the notification by the notification unit 26 (step #10) are performed. As a result, the combine harvester 1 is maintained in the automatic travel state (step #11).

[0059] In this way, the restart unit 24 is configured to instruct the traveling control unit 21 to resume automatic traveling when a manual operation to the operation reception unit 12a continues while the detection device 2 is detecting the situation around the vehicle. As a result, when a manual operation to the operation reception unit 12a continues while the detection device 2 is detecting the situation around the vehicle, the storage unit 23 continues to store the history information and the notification unit 26 continues to notify. In addition, when a manual operation to the operation reception unit 12a ends while the detection device 2 is detecting the situation around the vehicle, the restart unit 24 is configured to prioritize a stop instruction to the traveling control unit 21.

[0060] As described above, in step #07, it is determined whether the count of timer T1 has continued beyond the preset time. If the count of timer T1 has continued beyond the preset time (step #07: Yes), the determination of step #03 described above is executed. If the count of timer T1 has continued beyond the preset time (step #07: Yes) and automatic travel control of the combine harvester 1 based on the travel control unit 21 is being executed (step #03: Yes), the stop instruction unit 22 issues a stop instruction to the travel control unit 21 (step #04). This causes the combine harvester 1 to enter a stopped state (step #05).

[0061] In other words, the restart unit 24 is configured to give priority to issuing a stopping instruction to the driving control unit 21 when manual operation to the operation receiving unit 12a continues for more than a predetermined set time while the detection device 2 is detecting the situation around the vehicle.

[0062] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

[0063] (1) The above-described operation reception unit 12a is configured as a single unit. This is not limiting to the present embodiment, and a configuration in which multiple operation reception units 12a are provided may also be used. In this case, the restart unit 24 may be configured to instruct the driving control unit 21 to resume automatic driving when the operator performs an operation such as simultaneously pressing multiple operation reception units 12a. In other words, the restart unit 24 may be configured to instruct the driving control unit 21 to resume automatic driving when a manual operation is performed on all of the multiple operation reception units 12a.

[0064] (2) Although a touch panel input device, a lever, a button, etc. have been exemplified as the operation reception unit 12a described above, the operation reception unit 12a may also be a receiving device that receives remote operations. In other words, the operation reception unit 12a may be configured to be able to receive manual operations via remote control. This allows an operator located away from the work vehicle to temporarily resume autonomous driving by the resumption unit 24 by remotely operating the work vehicle.

[0065] (3) In the above embodiment, the restart unit 24 is configured to instruct the travel control unit 21 to resume automatic travel when manual operation to the operation reception unit 12a continues while the detection device 2 detects the situation around the vehicle, but this is not limited to this embodiment. For example, a configuration may be adopted in which temporary resumption of automatic travel and stopping of the work vehicle are repeated alternately each time the operator operates the operation reception unit 12a. In this case, too, a configuration may be adopted in which temporary resumption of automatic travel based on operation of the operation reception unit 12a continues only within a preset time range.

[0066] (4) The above-mentioned storage unit 23 may not be provided.

[0067] (5) The above-mentioned notification unit 26 may not be provided.

[0068] (6) The above-described embodiment can also be configured as an automatic driving control system. Therefore, for example, the detection device 2 may include a sensor or a camera arranged in the field. Furthermore, the control device 20 having the driving control unit 21, the stop instruction unit 22, the memory unit 23, and the restart unit 24 may not be provided in the combine harvester 1. For example, a management computer and the ECU of the combine harvester 1 may be configured to be able to communicate with each other, and the control device 20 may be implemented in the management computer. Furthermore, the operation reception unit 12a may be a remote control terminal or a mobile terminal (such as a smartphone or tablet computer) carried by a person who monitors the operation of the combine harvester 1 from outside the combine harvester 1.

[0069] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction arises. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the present invention. [Industrial Applicability]

[0070] The present invention is applicable to work vehicles. Therefore, it is not limited to the general-purpose combine harvester 1 exemplified in this embodiment, but can also be applied to head-feeding combine harvesters, various harvesters (e.g., corn harvesters, sugarcane harvesters, potato harvesters, beet harvesters, carrot harvesters, etc.), tractors, rice transplanters, fertilizer management machines, self-propelled spreaders, self-propelled mowers, etc. The present invention is also applicable to an automatic driving control system for a work vehicle that can be driven automatically by a traveling device. [Explanation of symbols]

[0071] 2:Detection device 11: Running gear 12a: Operation reception section 21: Driving control unit (automatic driving control unit) 22: Stop instruction section 23: Storage section 24:Resumption section 26: Information Department

Claims

1. Running gear and A detection device that detects the situation around the aircraft; an automatic travel control unit that controls the travel device to automatically travel the machine body; a stop instruction unit that issues a stop instruction to the automatic driving control unit based on an output of the detection device; an operation receiving unit that receives a manual operation to ignore the stop instruction; a restart unit that instructs the automatic traveling control unit to ignore the stop instruction and restart the automatic traveling in response to the operation reception unit receiving the manual operation while the vehicle is stopped in response to the stop instruction, The restarting section The automatic driving control unit is configured to instruct the automatic driving control unit to resume the automatic driving when the manual operation to the operation reception unit continues while the detection device detects the situation around the aircraft, A work vehicle configured to give priority to the stopping instruction to the automatic driving control unit when the manual operation to the operation reception unit continues for more than a predetermined time while the detection device is detecting the situation around the vehicle, or when the manual operation to the operation reception unit ends while the detection device is detecting the situation around the vehicle.

2. The work vehicle according to claim 1 , wherein the operation reception unit is configured to be able to receive the manual operation via remote control.

3. The work vehicle according to claim 1 , further comprising a storage unit that stores history information indicating that the automatic traveling has been resumed based on the manual operation.

4. The work vehicle according to claim 1 , further comprising a notification unit that notifies the user that the automatic traveling has resumed based on the manual operation.

5. A plurality of the operation reception units are provided, A work vehicle as described in any one of claims 1 to 4, wherein the restart unit is configured to instruct the automatic driving control unit to resume the automatic driving when manual operation is performed on all of the multiple operation receiving units.

6. An automatic driving control system for a work vehicle that can be automatically driven by a traveling device, a detection device that detects the surrounding conditions of the work vehicle; an automatic travel control unit that controls the travel device to automatically travel the work vehicle; a stop instruction unit that issues a stop instruction to the automatic driving control unit based on an output of the detection device; an operation receiving unit that receives a manual operation to ignore the stop instruction; a restart unit that instructs the automatic traveling control unit to ignore the stop instruction and restart the automatic traveling in response to the operation reception unit receiving the manual operation while the vehicle is stopped in response to the stop instruction, The restarting section The system is configured to instruct the automatic driving control unit to resume the automatic driving when the manual operation to the operation reception unit continues while the detection device is detecting the situation around the work vehicle, An automatic driving control system configured to give priority to the stopping instruction to the automatic driving control unit when the manual operation to the operation reception unit continues for more than a predetermined time while the detection device is detecting the situation around the work vehicle, or when the manual operation to the operation reception unit ends while the detection device is detecting the situation around the work vehicle.

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