Path Planning System

Abstract

This map creation system comprises a storage device that stores map data for an agricultural machine driving autonomously, and a processing device. If road data is not included in a predetermined area indicated by the map data, the processing device creates road data for the predetermined area on the basis of a trajectory of a vehicle, which travels in the predetermined area and is equipped with a GNSS receiver, and information on attributes of the vehicle, the trajectory being acquired for the predetermined area on the basis of GNSS data output from the GNSS receiver.

Description

[Technical Field]

[0001] The present disclosure relates to a map creation system that creates map data for autonomously driving agricultural machines, and a route planning system that includes such a map creation system. [Background technology]

[0002] Research and development is underway to automate agricultural machinery. For example, work vehicles such as tractors, combine harvesters, and rice transplanters that automatically navigate within fields using positioning systems such as the Global Navigation Satellite System (GNSS) have been put to practical use. Research and development is also underway on work vehicles that automatically navigate not only within fields but also outside of them. Patent Document 1 discloses a system that automatically navigates an unmanned work vehicle between two fields separated by a road. [Prior art documents] [Patent documents]

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

[0004] There is a need to efficiently create map data for agricultural machinery to operate autonomously.

[0005] The present disclosure provides a map creation system that efficiently creates map data for autonomously driving agricultural machines, and a route planning system that includes such a map creation system. [Means for solving the problem]

[0006] A map creation system according to one aspect of the present disclosure includes a storage device that stores map data for autonomously driving agricultural machinery, and a processing device that, if road data is not included in a specified area indicated by the map data, creates road data for the specified area based on the trajectory of a vehicle equipped with a GNSS receiver traveling in the specified area, obtained based on GNSS data output from the GNSS receiver, and attribute information of the vehicle. [Effects of the Invention]

[0007] According to an embodiment of the present disclosure, a system for efficiently creating a map for an autonomously driven agricultural machine and a route planning system including such a map creation system are provided. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram for explaining an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. [Figure 2] 1 is a side view schematically showing an example of a work vehicle and an implement coupled to the work vehicle. FIG. [Figure 3] FIG. 2 is a block diagram showing an example of the configuration of a work vehicle and an implement. [Figure 4] FIG. 1 is a conceptual diagram showing an example of a work vehicle that performs positioning using RTK-GNSS. [Figure 5] 3A and 3B are diagrams illustrating an example of an operation terminal and an operation switch group provided inside a cabin. [Figure 6] FIG. 2 is a block diagram illustrating an example of the hardware configuration of a management device and a terminal device. [Figure 7] FIG. 1 is a diagram schematically illustrating an example of a work vehicle that automatically travels along a target route in a farm field. [Figure 8] 10 is a flowchart illustrating an example of the operation of steering control during automatic driving. [Figure 9A] 1 is a diagram showing an example of a work vehicle traveling along a target route P. FIG. [Figure 9B]FIG. 10 is a diagram showing an example of a work vehicle at a position shifted to the right from the target route P. [Figure 9C] FIG. 10 is a diagram showing an example of a work vehicle at a position shifted to the left from a target route P. [Figure 9D] 10 is a diagram showing an example of a work vehicle facing in a direction inclined with respect to a target route P. FIG. [Figure 10] FIG. 1 is a diagram schematically illustrating an example of a situation in which a plurality of work vehicles are automatically traveling on roads inside and outside a farm field. [Figure 11] FIG. 10 is a diagram illustrating an example of a setting screen displayed on the terminal device. [Figure 12] FIG. 10 is a diagram showing an example of a farm work schedule created by the management device. [Figure 13A] FIG. 2 is a diagram illustrating an example of an area in which a work vehicle travels. [Figure 13B] FIG. 13B is a diagram schematically showing a map corresponding to the area surrounded by the dashed line in FIG. 13A. [Figure 13C] FIG. 13C is a schematic diagram for explaining a procedure in which a map creation system creates map data using the map data of FIG. 13B. [Figure 13D] FIG. 13C is a schematic diagram for explaining a procedure in which a map creation system creates map data using the map data of FIG. 13B. [Figure 14] 10 is a flowchart illustrating an example of a procedure for the processing device to create map data. [Figure 15A] FIG. 4 is a diagram illustrating an example of the reception strength of a satellite signal. [Figure 15B] FIG. 10 is a diagram showing another example of the reception strength of satellite signals. [Figure 16] FIG. 10 is a diagram illustrating an example of a global path and a local path generated in an environment where obstacles are present. [Figure 17] 1 is a flowchart illustrating a method for path planning and cruise control. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Definition of terms) In this disclosure, "agricultural machinery" refers to machinery used for agricultural purposes. Examples of agricultural machinery include tractors, harvesters, rice transplanters, riding cultivators, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, and agricultural mobile robots. Not only can a work vehicle such as a tractor function alone as an "agricultural machinery," but the entire work vehicle and an implement attached to or towed by the work vehicle can also function as a single "agricultural machinery." Agricultural machinery performs agricultural work on the ground in a field, such as plowing, sowing, pest control, fertilizing, planting crops, or harvesting. These agricultural works are sometimes referred to as "ground work" or simply "work." Traveling while performing agricultural work by a vehicle-type agricultural machine is sometimes referred to as "work travel."

[0010] "Autonomous driving" refers to controlling the movement of an agricultural machine through the action of a control device, without manual operation by a driver. Agricultural machines that perform autonomous driving are sometimes called "autonomous agricultural machines" or "robotic agricultural machines." During autonomous driving, not only the movement of the agricultural machine but also the agricultural work operations (e.g., the operation of the implement) may be automatically controlled. When the agricultural machine is a vehicle-type machine, the movement of the agricultural machine through autonomous driving is referred to as "autonomous driving." The control device may control at least one of the following operations required for the movement of the agricultural machine: steering, adjusting the movement speed, and starting and stopping the movement. When controlling a work vehicle equipped with implements, the control device may control operations such as raising and lowering the implement, starting and stopping the operation of the implement, etc. Autonomous driving movement may include not only movement of the agricultural machine toward a destination along a predetermined route, but also movement of the agricultural machine following a tracking target. An autonomously driving agricultural machine may move partially based on user instructions. Furthermore, an autonomously driving agricultural machine may operate in a manual driving mode, in addition to an autonomous driving mode, in which the agricultural machine moves through manual operation by the driver. Steering an agricultural machine by the action of a control device, without manual operation, is called "automatic steering." Part or all of the control device may be external to the agricultural machine. Control signals, commands, data, and the like may be communicated between the agricultural machine and a control device external to the agricultural machine. An agricultural machine that performs automatic driving may move autonomously while sensing the surrounding environment, without a human being being involved in controlling the movement of the agricultural machine. An agricultural machine capable of autonomous movement can travel unmanned within a field or outside a field (e.g., on a road). During autonomous movement, the machine may detect obstacles and take action to avoid them.

[0011] A "work plan" is data that schedules one or more agricultural tasks to be performed by an agricultural machine. The work plan may include, for example, information indicating the order of agricultural tasks to be performed by the agricultural machine and the field on which each task will be performed. The work plan may also include information on the scheduled date and time for each task. A work plan that includes information on the scheduled date and time for each task is particularly referred to as a "work schedule" or simply a "schedule." The work schedule may include information on the scheduled start and / or end times for each task performed on each work day. The work plan or work schedule may include information for each task, such as the content of the task, the implements to be used, and / or the type and amount of agricultural materials to be used. Here, "agricultural materials" refers to materials used in agricultural tasks performed by an agricultural machine. Agricultural materials may also be simply referred to as "materials." Agricultural materials may include materials consumed in agricultural tasks, such as pesticides, fertilizers, seeds, or seedlings. The work plan may be created by a processing device that communicates with the agricultural machine to manage the agricultural task, or a processing device installed on the agricultural machine. The processing device can create a work plan based on information input by a user (such as a farm manager or farm worker) by operating a terminal device, for example. In this specification, a processing device that communicates with agricultural machines and manages agricultural work is referred to as a "management device." The management device may manage the agricultural work of multiple agricultural machines. In this case, the management device may create a work plan that includes information about each agricultural work to be performed by each of the multiple agricultural machines. The work plan can be downloaded by each agricultural machine and stored in a storage device. Each agricultural machine can automatically head to a field and perform the scheduled agricultural work in accordance with the work plan.

[0012] An "environmental map" is data that represents the positions or areas of objects in the environment in which the agricultural machine moves using a specified coordinate system. An environmental map may be simply referred to as a "map" or "map data." The coordinate system that defines the environmental map may be, for example, a world coordinate system such as a geographic coordinate system fixed relative to the Earth. An environmental map may also include information other than the positions of objects in the environment (e.g., attribute information and other information). Environmental maps include maps in various formats, such as point cloud maps or grid maps. Data for local or partial maps that are generated or processed in the process of constructing an environmental map are also referred to as a "map" or "map data."

[0013] "Farm road" means a road that is primarily used for agricultural purposes. Farm roads are not limited to roads paved with asphalt, but also include unpaved roads covered with dirt or gravel. Farm roads include roads (including private roads) that are exclusively passable by vehicle-type agricultural machinery (for example, work vehicles such as tractors) and roads that are also passable by general vehicles (passenger cars, trucks, buses, etc.). Work vehicles may automatically travel on general roads in addition to farm roads. General roads are roads that have been developed for the traffic of general vehicles.

[0014] "Feature" means something that exists on the ground. Examples of features include waterways, grass, trees, roads, fields, ditches, rivers, bridges, forests, mountains, rocks, buildings, and railroad tracks. Things that do not exist in the real world, such as boundaries, place names, building names, field names, and road names, are not included in the "feature" in this disclosure.

[0015] "GNSS satellite" refers to an artificial satellite in the Global Navigation Satellite System (GNSS). GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System), GLONASS, Galileo, and BeiDou. GNSS satellites are satellites in these positioning systems. Signals transmitted from GNSS satellites are called "satellite signals." A "GNSS receiver" is a device that receives radio waves transmitted from multiple GNSS satellites and performs positioning based on signals superimposed on the radio waves. "GNSS data" is data output from a GNSS receiver. GNSS data may be generated in a predetermined format, such as the NMEA-0183 format. GNSS data may include, for example, information indicating the reception status of satellite signals received from individual satellites. For example, GNSS data may include the identification number, elevation angle, azimuth angle, and values ​​indicating reception strength of each satellite from which a satellite signal is received. Reception strength is a numerical value indicating the strength of the received satellite signal. The reception strength may be expressed as a value such as the carrier-to-noise power density ratio (C / N0). The GNSS data may include position information of the GNSS receiver or agricultural machine calculated based on multiple received satellite signals. The position information may be expressed by, for example, latitude, longitude, and height above mean sea level. The GNSS data may further include information indicating the reliability of the position information.

[0016] "Satellite signals can be received normally" means that satellite signals can be received stably enough that the reliability of positioning is not significantly reduced. The inability to receive satellite signals normally is sometimes referred to as "satellite signal reception interference." "Satellite signal reception interference" refers to a state in which the reliability of positioning is reduced compared to normal due to poor satellite signal reception. Reception interference can occur, for example, when the number of detected satellites is small (e.g., three or fewer), when the reception strength of each satellite signal is low, or when multipath interference occurs. Whether reception interference is occurring can be determined, for example, based on satellite-related information contained in GNSS data. For example, the presence or absence of reception interference can be determined based on the reception strength value for each satellite contained in the GNSS data or the DOP (Dilution of Precision) value, which indicates the satellite positioning status.

[0017] A "global path" refers to data on a path connecting a starting point to a destination point when an agricultural machine moves automatically, generated by a processing device that performs path planning. Generating a global path is called global path planning or global path design. In the following description, the global path is also called a "target path" or simply a "path." A global path can be defined, for example, by the coordinate values ​​of multiple points through which the agricultural machine must pass. A point through which the agricultural machine must pass is called a "waypoint," and a line segment connecting adjacent waypoints is called a "link."

[0018] A "local path" refers to a local path that can avoid obstacles and is generated sequentially when an agricultural machine automatically moves along a global path. Generating a local path is called local path planning or local path design. A local path is generated sequentially based on data acquired by one or more sensing devices equipped on the agricultural machine while the agricultural machine is moving. A local path may be defined by multiple waypoints along a portion of the global path. However, if an obstacle exists near the global path, waypoints may be set to bypass the obstacle. The length of the link between waypoints on a local path is shorter than the length of the link between waypoints on the global path. The device that generates the local path may be the same as or different from the device that generates the global path. For example, a management device that manages farm work by the agricultural machine may generate the global path, and a control device installed on the agricultural machine may generate the local path. In this case, the combination of the management device and the control device functions as a "processing device" that performs path planning. The agricultural machine's controller may function as a processor for both global and local path planning.

[0019] A "storage location" is a location provided for storing agricultural machinery. A storage location may be, for example, a location managed by a user of the agricultural machinery, or a location jointly operated by multiple users. A storage location may be, for example, a location set aside for storing agricultural machinery, such as a warehouse, barn, or parking lot at the home or business of a user (such as a farmer). The location of the storage location may be registered in advance and recorded in a storage device.

[0020] A "waiting location" is a location provided for an agricultural machine to wait while not performing agricultural work. One or more waiting locations may be provided in an environment in which the agricultural machine performs autonomous driving. The storage location described above is an example of a waiting location. A waiting location may be a location jointly managed or used by multiple users. A waiting location may be, for example, a warehouse, garage, barn, parking lot, or other facility. A waiting location may be a warehouse, barn, garage, or parking lot at the home or business of a farmer who is different from the user of the agricultural machine. Multiple waiting locations may be scattered throughout the environment in which the agricultural machine moves. Work such as replacement or maintenance of agricultural machine parts or implements, or replenishment of materials, may be performed in a waiting location. In this case, parts, tools, or materials required for those work may be stored in the waiting location.

[0021] (Embodiment) Hereinafter, embodiments of the present disclosure will be described. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend for them to limit the subject matter described in the claims. In the following description, components having the same or similar functions are designated by the same reference numerals.

[0022] A general or specific aspect of the present disclosure may be realized by an apparatus, a system, a method, an integrated circuit, a computer program, or a computer-readable non-transitory storage medium, or any combination thereof. The computer-readable storage medium may include a volatile storage medium or a non-volatile storage medium. An apparatus may be composed of multiple devices. When an apparatus is composed of two or more devices, the two or more devices may be located in a single device or may be located separately in two or more separate devices.

[0023] The following embodiments are examples, and the technology of the present disclosure is not limited to the following embodiments. For example, the numerical values, shapes, materials, steps, step order, display screen layout, etc. shown in the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. Furthermore, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0024] The following mainly describes an embodiment in which the technology of the present disclosure is applied to a work vehicle such as a tractor, which is an example of agricultural machinery. The technology of the present disclosure is not limited to work vehicles such as tractors, but can also be applied to other types of agricultural machinery.

[0025] FIG. 1 is a diagram illustrating an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. The agricultural management system shown in FIG. 1 includes a work vehicle 100, a terminal device 400, and a management device 600. The terminal device 400 is a computer used by a user to remotely monitor the work vehicle 100. The management device 600 is a computer managed by a business operator that operates the agricultural management system. The work vehicle 100, the terminal device 400, and the management device 600 can communicate with each other via a network 80. Although FIG. 1 illustrates one work vehicle 100, the agricultural management system may include multiple work vehicles or other agricultural machinery.

[0026] The work vehicle 100 in this embodiment is a tractor. The work vehicle 100 can be fitted with an implement at either the rear or the front, or both. The work vehicle 100 can travel within a field while performing agricultural work according to the type of implement. The work vehicle 100 may also travel within or outside a field without an implement attached.

[0027] The work vehicle 100 has an automatic driving function. That is, the work vehicle 100 can travel by the operation of a control device, without manual operation. The control device in this embodiment is provided inside the work vehicle 100, and can control both the speed and steering of the work vehicle 100. The work vehicle 100 can travel automatically not only within a field, but also outside the field (for example, on a road).

[0028] The work vehicle 100 is equipped with devices used for positioning or self-location estimation, such as a GNSS receiver and a LiDAR sensor. The control device of the work vehicle 100 causes the work vehicle 100 to travel automatically based on the position of the work vehicle 100 and information on the target route generated by the management device 600. In addition to controlling the travel of the work vehicle 100, the control device also controls the operation of the implement. This allows the work vehicle 100 to perform agricultural work using the implement while traveling automatically within a field. Furthermore, the work vehicle 100 can automatically travel along roads outside the field (e.g., farm roads or public roads) along a target route. When traveling automatically along roads outside the field, the work vehicle 100 travels while generating a local route along the target route that can avoid obstacles based on data output from sensing devices such as a camera or LiDAR sensor. Within the field, the work vehicle 100 may travel while generating a local route as described above, or may travel along a target route without generating a local route and stop if an obstacle is detected.

[0029] The management device 600 is a computer that manages agricultural work performed by the work vehicle 100. The management device 600 may be, for example, a server computer that centrally manages information about farm fields on the cloud and supports agriculture by utilizing data on the cloud. The management device 600 may, for example, create a work plan for the work vehicle 100 and generate a target route for the work vehicle 100 in accordance with the work plan. Alternatively, the management device 600 may generate the target route for the work vehicle 100 in response to a user's operation using the terminal device 400. Hereinafter, unless otherwise specified, the target route (i.e., global route) for the work vehicle 100 generated by the management device 600 will be simply referred to as a "route."

[0030] The management device 600 includes a storage device and a processing device. The storage device stores map data for the work vehicle 100 to perform autonomous driving. The processing device creates road data for a predetermined area based on the vehicle's trajectory in the predetermined area, acquired based on GNSS data output from the GNSS receiver when the vehicle equipped with the GNSS receiver travels in the predetermined area indicated by the map data, and on the vehicle's attribute information. Through this processing, maps for the autonomously driving work vehicle 100 can be efficiently created, as will be explained in detail later.

[0031] The management device 600 generates target routes within the field and outside the field using different methods. The management device 600 generates target routes within the field based on information about the field. For example, the management device 600 can generate target routes within the field based on various information, such as pre-registered field outlines, field area, the location of field entrances and exits, the width of the work vehicle 100, the width of the implement, the type of work being performed, the type of crop being cultivated, the crop growing area, the crop growth conditions, or the spacing between crop rows or furrows. The management device 600 generates target routes within the field based on information input by the user using the terminal device 400 or another device, for example. The management device 600 generates routes within the field so as to cover the entire work area where work is to be performed, for example. On the other hand, the management device 600 generates target routes outside the field in accordance with a work plan or user instructions. For example, the management device 600 can generate a target route outside the field based on various information such as the order of farm work indicated in the work plan, the location of the field where each farm work will be performed, the location of the entrance and exit to the field, the scheduled start and end times of each farm work, attribute information of each road recorded on the map, road surface conditions, weather conditions, traffic conditions, etc. The management device 600 may generate a target route based on information indicating a route or waypoints specified by a user operating the terminal device 400, regardless of the work plan.

[0032] The management device 600 may further generate and edit an environmental map based on data collected by the work vehicle 100 or other moving bodies using a sensing device such as a LiDAR sensor. The management device 600 transmits the generated work plan, target route, and environmental map data to the work vehicle 100. The work vehicle 100 moves and performs farm work automatically based on this data.

[0033] It should be noted that the global route design and the generation (or editing) of the environmental map may be performed by other devices, not just the management device 600. For example, the control device of the work vehicle 100 may perform the global route design or the generation or editing of the environmental map.

[0034] The terminal device 400 is a computer used by a user located remotely from the work vehicle 100. While the terminal device 400 shown in FIG. 1 is a laptop computer, this is not limiting. The terminal device 400 may be a stationary computer such as a desktop PC (personal computer), or a mobile terminal such as a smartphone or tablet computer. The terminal device 400 may be used to remotely monitor or remotely operate the work vehicle 100. For example, the terminal device 400 can display on a display image captured by one or more cameras (imaging devices) equipped on the work vehicle 100. The user can view the image to confirm the situation around the work vehicle 100 and send instructions to the work vehicle 100 to stop or start. The terminal device 400 can also display on a display a setting screen that allows the user to input information necessary to create a work plan for the work vehicle 100 (e.g., a schedule for each agricultural work). When the user inputs the necessary information on the setting screen and performs a send operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on that information. The terminal device 400 can also be used to register one or more fields where the work vehicle 100 will perform farm work, a storage location for the work vehicle 100, and one or more waiting locations where the work vehicle 100 will temporarily wait. The terminal device 400 may further have a function to display on the display a setting screen that allows the user to input information necessary to set a target route.

[0035] The configuration and operation of the system in this embodiment will be described in more detail below.

[0036] [1. Configuration] FIG. 2 is a side view that schematically shows an example of a work vehicle 100 and a work implement 300 coupled to the work vehicle 100. The work vehicle 100 in this embodiment can operate in both a manual driving mode and an automatic driving mode. In the automatic driving mode, the work vehicle 100 can travel unmanned. The work vehicle 100 can be driven automatically both inside and outside a field.

[0037] As shown in Fig. 2, work vehicle 100 includes a vehicle body 101, a prime mover (engine) 102, and a transmission 103. Vehicle body 101 is provided with wheels 104 with tires and a cabin 105. Wheels 104 include a pair of front wheels 104F and a pair of rear wheels 104R. Inside cabin 105 are provided a driver's seat 107, a steering device 106, an operation terminal 200, and a group of switches for operation. When work vehicle 100 travels through a field, one or both of front wheels 104F and rear wheels 104R may be replaced with multiple wheels (crawlers) equipped with tracks rather than with tires.

[0038] The work vehicle 100 is equipped with at least one sensing device that senses the environment around the work vehicle 100. In the example shown in Figure 2, the work vehicle 100 is equipped with multiple sensing devices. The sensing devices include multiple cameras 120, a LiDAR sensor 140, and multiple obstacle sensors 130.

[0039] Cameras 120 may be installed, for example, on the front, rear, left and right sides of work vehicle 100. Cameras 120 capture images of the environment around work vehicle 100 and generate image data. Images acquired by cameras 120 may be transmitted to terminal device 400 for remote monitoring. These images may be used to monitor work vehicle 100 during unmanned operation. Cameras 120 may also be used to generate images for recognizing surrounding features or obstacles, white lines, signs, or markings when work vehicle 100 travels on roads outside of fields (farm roads or public roads).

[0040] In the example of FIG. 2, the LiDAR sensor 140 is disposed at the lower front portion of the vehicle body 101. The LiDAR sensor 140 may be disposed at another location. For example, the LiDAR sensor 140 may be disposed at the top of the cabin 105. The LiDAR sensor 140 may be a 3D-LiDAR sensor, but may also be a 2D-LiDAR sensor. The LiDAR sensor 140 senses the environment surrounding the work vehicle 100 and outputs sensing data. While the work vehicle 100 is traveling, the LiDAR sensor 140 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object in the surrounding environment, or the two-dimensional or three-dimensional coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 140 is processed by a control device of the work vehicle 100. The control device can estimate the self-position of the work vehicle 100 by matching the sensor data with an environmental map. The control device can also detect objects, such as obstacles, present in the vicinity of the work vehicle 100 based on the sensor data. The control device may also generate or compile an environmental map using algorithms such as SLAM (Simultaneous Localization and Mapping). Work vehicle 100 may be equipped with multiple LiDAR sensors positioned at different locations and with different orientations.

[0041] The multiple obstacle sensors 130 shown in FIG. 2 are provided at the front and rear of the cabin 105. The obstacle sensors 130 may also be located in other locations. For example, one or more obstacle sensors 130 may be provided at any position on the side, front, and rear of the vehicle body 101. The obstacle sensors 130 may include, for example, a laser scanner or ultrasonic sonar. The obstacle sensors 130 are used to detect surrounding obstacles during autonomous driving and to stop or detour the work vehicle 100. A LiDAR sensor 140 may be used as one of the obstacle sensors 130.

[0042] The work vehicle 100 further includes a GNSS unit 110. The GNSS unit 110 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the work vehicle 100 based on the signals received by the antenna. The GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the GNSS unit 110 is provided on top of the cabin 105, but may be provided in another location.

[0043] The GNSS unit 110 may include an inertial measurement unit (IMU). Signals from the IMU can be used to complement position data. The IMU can measure the tilt and minute movements of the work vehicle 100. By complementing position data based on satellite signals with data acquired by the IMU, positioning performance can be improved.

[0044] The control device of the work vehicle 100 may use, in addition to the positioning results from the GNSS unit 110, sensing data acquired by sensing devices such as the camera 120 or LiDAR sensor 140 for positioning. If there are features that function as characteristic points in the environment in which the work vehicle 100 is traveling, such as farm roads, forest roads, public roads, or orchards, the position and orientation of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the camera 120 or LiDAR sensor 140 and an environmental map that has been stored in advance in a storage device. By using the data acquired by the camera 120 or LiDAR sensor 140 to correct or complement position data based on satellite signals, the position of the work vehicle 100 can be determined with higher accuracy.

[0045] The prime mover 102 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 103 can change the propulsive force and travel speed of the work vehicle 100 by changing gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse travel.

[0046] The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device that assists steering by the steering wheel. The front wheels 104F are steerable wheels, and the traveling direction of the work vehicle 100 can be changed by changing the turning angle (also referred to as the "steering angle"). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering device includes a hydraulic device or an electric motor that supplies an assisting force to change the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic device or electric motor under control of a control device arranged inside the work vehicle 100.

[0047] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also referred to as a "three-point link" or "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The coupling device 108 allows the work implement 300 to be attached to and detached from the work vehicle 100. The coupling device 108 can raise and lower the three-point link using, for example, a hydraulic device, thereby changing the position or attitude of the work implement 300. Power can also be sent from the work vehicle 100 to the work implement 300 via the universal joint. The work vehicle 100 can cause the work implement 300 to perform a predetermined task while towing the work implement 300. The coupling device may be provided at the front of the vehicle body 101. In this case, an implement can be connected to the front of the work vehicle 100.

[0048] 2 is a rotary tiller, but the work machine 300 is not limited to a rotary tiller. For example, any implement such as a seeder (seed sowing machine), a spreader (fertilizer applicator), a transplanter, a mower (grass cutter), a rake, a baler (grass collector), a harvester (harvesting machine), a sprayer, or a harrow can be connected to the work vehicle 100 and used.

[0049] 2 is capable of being driven by a driver, but may also be capable of being driven only unmanned. In that case, components required only for driven operation, such as the cabin 105, steering device 106, and driver's seat 107, may not be provided in the work vehicle 100. The unmanned work vehicle 100 can travel autonomously or by remote control by a user.

[0050] 3 is a block diagram showing an example configuration of the work vehicle 100 and the work implement 300. The work vehicle 100 and the work implement 300 can communicate with each other via a communication cable included in the coupling device 108. The work vehicle 100 can communicate with the terminal device 400 and the management device 600 via the network 80.

[0051] In the example of FIG. 3, the work vehicle 100 includes a GNSS unit 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, and an operation terminal 200, as well as a group of sensors 150 that detect the operating state of the work vehicle 100, a control system 160, a communication device 190, a group of operation switches 210, a buzzer 220, and a drive unit 240. These components are communicatively connected to each other via a bus. The GNSS unit 110 includes a GNSS receiver 111, an RTK receiver 112, an inertial measurement unit (IMU) 115, and a processing circuit 116. The group of sensors 150 includes a steering wheel sensor 152, a turning angle sensor 154, and an axle sensor 156. The control system 160 includes a memory device 170 and a control device 180. The control device 180 includes multiple electronic control units (ECUs) 181 to 186. The work machine 300 includes a drive unit 340, a control unit 380, and a communication unit 390. Note that Fig. 3 shows components that are relatively closely related to the operation of the autonomous driving by the work vehicle 100, and does not show other components.

[0052] The GNSS receiver 111 in the GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, the identification number of each satellite from which the satellite signal is received, an elevation angle, an azimuth angle, and a value indicating reception strength. The reception strength may be expressed, for example, as a value such as the carrier-to-noise power density ratio (C / N0). The GNSS data may also include position information of the work vehicle 100 calculated based on the multiple received satellite signals, and information indicating the reliability of the position information. The position information may be represented, for example, by latitude, longitude, and height above mean sea level. The reliability of the position information may be represented, for example, by a DOP value indicating the satellite configuration.

[0053] The GNSS unit 110 shown in FIG. 3 performs positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of a work vehicle 100 performing positioning using RTK-GNSS. Positioning using RTK-GNSS uses satellite signals transmitted from multiple GNSS satellites 50 as well as correction signals transmitted from a reference station 60. The reference station 60 may be installed near the field where the work vehicle 100 will be traveling (for example, within 10 km of the work vehicle 100). The reference station 60 generates correction signals, for example in RTCM format, based on the satellite signals received from the multiple GNSS satellites 50 and transmits them to the GNSS unit 110. The RTK receiver 112 includes an antenna and a modem and receives the correction signals transmitted from the reference station 60. The processing circuit 116 of the GNSS unit 110 corrects the positioning results obtained by the GNSS receiver 111 based on the correction signals. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position information including latitude, longitude, and altitude information is obtained through highly accurate positioning using RTK-GNSS. The GNSS unit 110 calculates the position of the work vehicle 100, for example, at a frequency of approximately 1 to 10 times per second.

[0054] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or differential positioning) that can obtain position information with the required accuracy can be used. For example, positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position information with the required accuracy can be obtained without using a correction signal transmitted from the reference station 60, the position information may be generated without using a correction signal. In this case, the GNSS unit 110 does not need to be equipped with the RTK receiver 112.

[0055] Even when RTK-GNSS is used, in places where correction signals from the reference station 60 cannot be obtained (for example, on a road far from a field), the position of the work vehicle 100 is estimated by other methods without relying on signals from the RTK receiver 112. For example, the position of the work vehicle 100 can be estimated by matching data output from the LiDAR sensor 140 and / or camera 120 with a highly accurate environmental map.

[0056] The GNSS unit 110 in this embodiment further includes an IMU 115. The IMU 115 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 115 may also include a direction sensor such as a three-axis geomagnetic sensor. The IMU 115 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, velocity, displacement, and attitude of the work vehicle 100. The processing circuit 116 can estimate the position and orientation of the work vehicle 100 with higher accuracy based on the signals output from the IMU 115 in addition to the satellite signals and correction signals. The signals output from the IMU 115 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU 115 outputs signals at a higher frequency than the GNSS receiver 111. Using these high-frequency signals, the processing circuit 116 can measure the position and orientation of the work vehicle 100 at a higher frequency (e.g., 10 Hz or higher). A three-axis acceleration sensor and a three-axis gyroscope may be provided separately instead of the IMU 115. The IMU 115 may be provided as a device separate from the GNSS unit 110.

[0057] The camera 120 is an imaging device that captures images of the environment surrounding the work vehicle 100. The camera 120 includes an image sensor, such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 120 may also include an optical system including one or more lenses and a signal processing circuit. The camera 120 captures images of the environment surrounding the work vehicle 100 while the work vehicle 100 is traveling and generates image (e.g., video) data. The camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by the camera 120 can be used, for example, when a remote observer uses the terminal device 400 to check the environment surrounding the work vehicle 100. The images generated by the camera 120 may be used for positioning or obstacle detection. As shown in FIG. 2, multiple cameras 120 may be installed at different positions on the work vehicle 100, or a single camera may be installed. A visible light camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both a visible light camera and an infrared camera may be provided as cameras that generate images for surveillance. The infrared camera can also be used to detect obstacles at night.

[0058] The obstacle sensor 130 detects objects present around the work vehicle 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 outputs a signal indicating the presence of an obstacle when an object is present closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be provided at different positions on the work vehicle 100. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the work vehicle 100. By providing such a large number of obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0059] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F, which are the steered wheels. The measurement values ​​from the steering wheel sensor 152 and the turning angle sensor 154 are used for steering control by the control device 180.

[0060] The axle sensor 156 measures the rotational speed of the axle connected to the wheel 104, i.e., the number of rotations per unit time. The axle sensor 156 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs a numerical value that indicates, for example, the number of rotations per minute (unit: rpm) of the axle. The axle sensor 156 is used to measure the speed of the work vehicle 100.

[0061] The drive device 240 includes various devices necessary for the travel of the work vehicle 100 and the driving of the work implement 300, such as the prime mover 102, transmission 103, steering device 106, and coupling device 108 described above. The prime mover 102 may be equipped with an internal combustion engine such as a diesel engine. The drive device 240 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.

[0062] The buzzer 220 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 220 emits the warning sound when an obstacle is detected during automatic driving. The buzzer 220 is controlled by the control device 180.

[0063] The storage device 170 includes one or more storage media, such as a flash memory or a magnetic disk. The storage device 170 stores various data generated by the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, the sensor group 150, and the control device 180. The data stored in the storage device 170 may include map data (environmental map) of the environment in which the work vehicle 100 travels, and data on a global route (target route) for autonomous driving. The environmental map includes information on multiple fields in which the work vehicle 100 will perform agricultural work and the roads in their surroundings. The environmental map and target route may be generated by a processing device (processor) in the management device 600. The control device 180 may also have a function for generating or editing the environmental map and target route. The control device 180 can edit the environmental map and target route obtained from the management device 600 according to the travel environment of the work vehicle 100. The storage device 170 also stores data of the work plan received by the communication device 190 from the management device 600 .

[0064] The work plan includes information about multiple agricultural works to be performed by the work vehicle 100 over multiple work days. The work plan may be, for example, work schedule data that includes information about the scheduled times for each agricultural work to be performed by the work vehicle 100 on each work day.

[0065] Storage device 170 also stores computer programs that cause each ECU in control device 180 to execute various operations, which will be described later. Such computer programs may be provided to work vehicle 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or a telecommunications line (e.g., the Internet). Such computer programs may also be sold as commercial software.

[0066] The control device 180 includes a plurality of ECUs, such as an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for implement control, an ECU 184 for automatic driving control, an ECU 185 for route generation, and an ECU 186 for map creation.

[0067] The ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102 , the transmission 103 , and the brakes included in the drive unit 240 .

[0068] The ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic device or electric motor included in the steering device 106 based on the measurement value of the steering wheel sensor 152 .

[0069] The ECU 183 controls the operation of the three-point link and PTO shaft included in the coupling device 108, etc., in order to cause the work machine 300 to perform a desired operation. The ECU 183 also generates signals to control the operation of the work machine 300, and transmits these signals from the communication device 190 to the work machine 300.

[0070] The ECU 184 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, and the sensor group 150. For example, the ECU 184 determines the position of the work vehicle 100 based on data output from at least one of the GNSS unit 110, the camera 120, and the LiDAR sensor 140. Within a farm field, the ECU 184 may determine the position of the work vehicle 100 based solely on data output from the GNSS unit 110. The ECU 184 may also estimate or correct the position of the work vehicle 100 based on data acquired by the camera 120 or the LiDAR sensor 140. Using the data acquired by the camera 120 or the LiDAR sensor 140 can further improve the accuracy of positioning. Outside of a farm field, the ECU 184 estimates the position of the work vehicle 100 using data output from the LiDAR sensor 140 or the camera 120. For example, ECU 184 may estimate the position of work vehicle 100 by matching data output from LiDAR sensor 140 or camera 120 with an environmental map. During autonomous driving, ECU 184 performs calculations necessary for work vehicle 100 to travel along a target path or a local path based on the estimated position of work vehicle 100. ECU 184 sends a speed change command to ECU 181 and a steering angle change command to ECU 182. In response to the speed change command, ECU 181 changes the speed of work vehicle 100 by controlling prime mover 102, transmission 103, or brakes. In response to the steering angle change command, ECU 182 changes the steering angle by controlling steering device 106.

[0071] ECU 185 sequentially generates local paths that can avoid obstacles while work vehicle 100 is traveling along the target path. While work vehicle 100 is traveling, ECU 185 recognizes obstacles that exist around work vehicle 100 based on data output from camera 120, obstacle sensor 130, and LiDAR sensor 140. ECU 185 generates local paths that avoid the recognized obstacles.

[0072] ECU 185 may have a function for performing global route design instead of management device 600. In this case, ECU 185 determines the destination of work vehicle 100 based on the work plan stored in storage device 170, and determines a target route from the start point of work vehicle 100's movement to the destination point. ECU 185 can create, for example, a route that will allow the work vehicle to reach the destination in the shortest time as the target route based on an environmental map that includes road information stored in storage device 170. Alternatively, ECU 185 may generate, as the target route, a route that prioritizes specific types of roads (for example, roads that follow specific features such as farm roads or waterways, or roads that have good reception of satellite signals from GNSS satellites) based on attribute information of each road included in the environmental map.

[0073] The ECU 186 generates or edits a map of the environment in which the work vehicle 100 travels. In this embodiment, an environmental map generated by an external device such as the management device 600 is transmitted to the work vehicle 100 and recorded in the storage device 170, but the ECU 186 can also generate or edit the environmental map instead. The following describes the operation when the ECU 186 generates an environmental map. The environmental map can be generated based on sensor data output from the LiDAR sensor 140. When generating the environmental map, the ECU 186 sequentially generates three-dimensional point cloud data based on the sensor data output from the LiDAR sensor 140 while the work vehicle 100 is traveling. The ECU 186 can generate the environmental map by connecting the sequentially generated point cloud data using an algorithm such as SLAM. The environmental map generated in this manner is a highly accurate three-dimensional map and can be used by the ECU 184 for self-localization estimation. A two-dimensional map used for global path planning can be generated based on this three-dimensional map. In this specification, both the 3D map used for self-localization and the 2D map used for global route planning are referred to as “environment maps.” ECU 186 can also edit the map by adding various attribute information to the map, such as features (e.g., waterways, rivers, grass, trees, etc.) recognized based on data output from camera 120 or LiDAR sensor 140, road type (e.g., whether it is a farm road), road surface condition, or road passability.

[0074] Through the operation of these ECUs, control device 180 realizes autonomous driving. During autonomous driving, control device 180 controls drive device 240 based on the measured or estimated position of work vehicle 100 and the target route. In this way, control device 180 causes work vehicle 100 to travel along the target route.

[0075] The multiple ECUs included in the control device 180 can communicate with each other in accordance with a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In FIG. 3, each of the ECUs 181 to 186 is shown as an individual block, but the functions of each of these may be realized by multiple ECUs. An on-board computer that integrates at least some of the functions of the ECUs 181 to 186 may be provided. The control device 180 may include ECUs other than the ECUs 181 to 186, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors.

[0076] The communication device 190 includes circuits for communicating with the work machine 300, the terminal device 400, and the management device 600. The communication device 190 includes circuits for transmitting and receiving signals compliant with ISOBUS standards, such as ISOBUS-TIM, between the communication device 390 of the work machine 300. This allows the work machine 300 to perform desired operations and acquire information from the work machine 300. The communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals between the communication devices of the terminal device 400 and the management device 600 via the network 80. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet. The communication device 190 may also have a function for communicating with a mobile device used by an observer near the work vehicle 100. Communication with such a mobile device may be performed using any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth (registered trademark).

[0077] The operation terminal 200 is a terminal through which a user performs operations related to the travel of the work vehicle 100 and the operation of the work implement 300, and is also referred to as a virtual terminal (VT). The operation terminal 200 may include a display device such as a touch screen and / or one or more buttons. The display device may be, for example, a liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operation terminal 200, a user can perform various operations, such as switching the autonomous driving mode on / off, recording or editing an environmental map, setting a target route, and switching the work implement 300 on / off. At least some of these operations can also be achieved by operating the operation switch group 210. The operation terminal 200 may be configured to be detachable from the work vehicle 100. A user located remote from the work vehicle 100 may operate the detached operation terminal 200 to control the operation of the work vehicle 100. Instead of the operation terminal 200, the user may control the operation of the work vehicle 100 by operating a computer, such as a terminal device 400, on which necessary application software is installed.

[0078] 5 is a diagram showing an example of operation terminal 200 and operation switch group 210 provided inside cabin 105. Operation switch group 210 including a plurality of switches that can be operated by the user is arranged inside cabin 105. Operation switch group 210 may include, for example, a switch for selecting the gear stage of the main transmission or auxiliary transmission, a switch for switching between automatic driving mode and manual driving mode, a switch for switching between forward and reverse, and a switch for raising and lowering work implement 300. Note that if work vehicle 100 only performs unmanned operation and does not have the function of manned operation, work vehicle 100 does not need to be equipped with operation switch group 210.

[0079] The drive unit 340 in the work implement 300 shown in Figure 3 performs the operations required for the work implement 300 to perform a predetermined task. The drive unit 340 includes devices appropriate for the intended use of the work implement 300, such as a hydraulic device, an electric motor, or a pump. The control device 380 controls the operation of the drive unit 340. The control device 380 causes the drive unit 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. In addition, a signal appropriate to the state of the work implement 300 can also be transmitted from the communication device 390 to the work vehicle 100.

[0080] Next, the configurations of the management device 600 and the terminal device 400 will be described with reference to Fig. 6. Fig. 6 is a block diagram illustrating a schematic hardware configuration of the management device 600 and the terminal device 400.

[0081] The management device 600 includes a storage device 650, a processor 660, a read-only memory (ROM) 670, a random access memory (RAM) 680, and a communication device 690. These components are communicatively connected to each other via a bus. The management device 600 manages the schedule of agricultural work performed in the field by the work vehicle 100 and can function as a cloud server that supports agriculture by utilizing the data it manages. A user can input information necessary for creating a work plan using the terminal device 400 and upload that information to the management device 600 via the network 80. The management device 600 can create a schedule of agricultural work, i.e., a work plan, based on that information. The management device 600 can also generate or edit an environmental map. The environmental map may be distributed from a computer external to the management device 600.

[0082] The communication device 690 is a communication module for communicating with the work vehicle 100 and the terminal device 400 via the network 80. The communication device 690 can perform wired communication in accordance with communication standards such as IEEE1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may also perform wireless communication in accordance with the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0083] The processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 660 may be implemented by a microprocessor or a microcontroller. Alternatively, the processor 660 may be implemented by a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), or a combination of two or more circuits selected from these circuits. The processor 660 sequentially executes a computer program stored in the ROM 670, which describes a group of instructions for executing at least one process, to achieve the desired process.

[0084] The ROM 670 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory. The ROM 670 stores a program that controls the operation of the processor 660. The ROM 670 does not need to be a single storage medium, but may be a collection of multiple storage media. Part of the collection of multiple storage media may be removable memory.

[0085] The RAM 680 provides a working area for temporarily loading the control program stored in the ROM 670 at boot time. The RAM 680 does not have to be a single storage medium, but may be a collection of multiple storage media.

[0086] The storage device 650 mainly functions as database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. An example of a magnetic storage device is a hard disk drive (HDD). An example of a semiconductor storage device is a solid state drive (SSD). The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as a cloud storage device.

[0087] The terminal device 400 includes an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are communicatively connected to one another via a bus. The input device 420 is a device for converting user instructions into data and inputting the data to a computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic EL display. The processor 460, the ROM 470, the RAM 480, the storage device 450, and the communication device 490 are described in the hardware configuration example of the management device 600, and therefore their description will be omitted.

[0088] [2. Operation] Next, the operations of the work vehicle 100, the terminal device 400, and the management device 600 will be described.

[0089] [2-1.Automatic driving operation] First, an example of the operation of autonomous driving by the work vehicle 100 will be described. The work vehicle 100 in this embodiment can travel autonomously both inside and outside a field. Within a field, the work vehicle 100 drives the work implement 300 while traveling along a predetermined target route to perform predetermined agricultural work. If the obstacle sensor 130 detects an obstacle while traveling within a field, the work vehicle 100 may, for example, stop traveling, emit a warning sound from the buzzer 220, and send a warning signal to the terminal device 400. Within a field, the positioning of the work vehicle 100 is performed mainly based on data output from the GNSS unit 110. On the other hand, outside the field, the work vehicle 100 travels autonomously along a target route set on a farm road or public road outside the field. While traveling outside the field, the work vehicle 100 travels using data acquired by the camera 120 or LiDAR sensor 140. Outside the field, when an obstacle is detected, the work vehicle 100 will, for example, avoid the obstacle or stop on the spot. Outside the field, the position of the work vehicle 100 can be estimated based on the positioning data output from the GNSS unit 110 as well as the data output from the LiDAR sensor 140 or the camera 120.

[0090] An example of the operation of the work vehicle 100 when it travels automatically within a farm field will now be described.

[0091] FIG. 7 is a diagram schematically illustrating an example of a work vehicle 100 that automatically travels through a field along a target route. In this example, the field includes a work area 72 where the work vehicle 100 performs work using the work implement 300, and a headland 74 located near the outer periphery of the field. The user can set in advance which areas of the field on the map correspond to the work area 72 or the headland 74. The target route in this example includes multiple parallel main routes P1 and multiple turning routes P2 that connect the multiple main routes P1. The main routes P1 are located within the work area 72, and the turning routes P2 are located within the headland 74. Although each main route P1 shown in FIG. 7 is a straight route, each main route P1 may also include curved portions. The main path P1 can be automatically generated, for example, by a user viewing a map of the field displayed on the operation terminal 200 or the terminal device 400 and specifying two points near the edge of the field (points A and B in FIG. 7). In this case, multiple main paths P1 are set parallel to a line segment connecting points A and B specified by the user, and a target path within the field is generated by connecting these main paths P1 with a turning path P2. The dashed line in FIG. 7 represents the working width of the work implement 300. The working width is set in advance and recorded in the storage device 170. The working width can be set and recorded by the user operating the operation terminal 200 or the terminal device 400. Alternatively, the working width can be automatically recognized and recorded when the work implement 300 is connected to the work vehicle 100. The spacing between the multiple main paths P1 can be set to match the working width. The target path can be created based on user operation before autonomous driving begins. The target route can be created so as to cover the entire work area 72 in a farm field, for example. The work vehicle 100 automatically travels back and forth from the start point of the work to the end point of the work along the target route as shown in Fig. 7. Note that the target route shown in Fig. 7 is merely an example, and the target route can be determined in any way.

[0092] Next, an example of control by the control device 180 during automatic operation in a farm field will be described.

[0093] FIG. 8 is a flowchart showing an example of the operation of steering control during automatic driving executed by the control device 180. The control device 180 performs automatic steering by executing the operations of steps S121 to S125 shown in FIG. 8 while the work vehicle 100 is traveling. The speed is maintained at, for example, a preset speed. While the work vehicle 100 is traveling, the control device 180 acquires data indicating the position of the work vehicle 100 generated by the GNSS unit 110 (step S121). Next, the control device 180 calculates the deviation between the position of the work vehicle 100 and the target route (step S122). The deviation represents the distance between the position of the work vehicle 100 at that time and the target route. The control device 180 determines whether the calculated position deviation exceeds a preset threshold (step S123). If the deviation exceeds the threshold, the control device 180 changes the steering angle by changing the control parameters of the steering device included in the drive device 240 so as to reduce the deviation. If the deviation does not exceed the threshold value in step S123, the operation of step S124 is skipped. In the following step S125, the control device 180 determines whether or not a command to end the operation has been received. A command to end the operation may be issued, for example, when a user remotely instructs the work vehicle 100 to stop autonomous driving, or when the work vehicle 100 reaches its destination. If a command to end the operation has not been issued, the process returns to step S121, and the same operation is performed based on the newly measured position of the work vehicle 100. The control device 180 repeats the operations of steps S121 to S125 until a command to end the operation is issued. The above operations are executed by the ECUs 182 and 184 in the control device 180.

[0094] 8, the control device 180 controls the drive device 240 based only on the deviation between the position of the work vehicle 100 identified by the GNSS unit 110 and the target route, but the control may also take into consideration the deviation in heading. For example, when the heading deviation, which is the angular difference between the orientation of the work vehicle 100 identified by the GNSS unit 110 and the direction of the target route, exceeds a preset threshold, the control device 180 may change the control parameters (e.g., steering angle) of the steering device of the drive device 240 in accordance with the deviation.

[0095] An example of steering control by the control device 180 will be described in more detail below with reference to FIGS. 9A to 9D.

[0096] FIG. 9A is a diagram showing an example of a work vehicle 100 traveling along a target route P. FIG. 9B is a diagram showing an example of a work vehicle 100 shifted to the right from the target route P. FIG. 9C is a diagram showing an example of a work vehicle 100 shifted to the left from the target route P. FIG. 9D is a diagram showing an example of a work vehicle 100 facing in an inclined direction with respect to the target route P. In these figures, the pose indicating the position and orientation of the work vehicle 100 measured by the GNSS unit 110 is expressed as r(x, y, θ). (x, y) are coordinates representing the position of the reference point of the work vehicle 100 in the XY coordinate system, which is a two-dimensional coordinate system fixed to the Earth. In the examples shown in FIGS. 9A to 9D, the reference point of the work vehicle 100 is located at the position where the GNSS antenna is installed on the cabin, but the position of the reference point is arbitrary. θ is an angle representing the measured orientation of the work vehicle 100. In the examples shown, the target route P is parallel to the Y axis, but generally, the target route P is not necessarily parallel to the Y axis.

[0097] As shown in FIG. 9A, if the position and orientation of the work vehicle 100 do not deviate from the target route P, the control device 180 maintains the steering angle and speed of the work vehicle 100 unchanged.

[0098] As shown in Fig. 9B, when the position of work vehicle 100 has shifted to the right from target route P, control device 180 changes the steering angle so that the traveling direction of work vehicle 100 leans leftward and approaches route P. At this time, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle can be adjusted, for example, according to the magnitude of position deviation Δx.

[0099] As shown in Fig. 9C, when the position of work vehicle 100 has shifted to the left from target route P, control device 180 changes the steering angle so that the traveling direction of work vehicle 100 tilts to the right and approaches route P. In this case, too, the speed may be changed in addition to the steering angle. The amount of change in the steering angle may be adjusted, for example, according to the magnitude of position deviation Δx.

[0100] As shown in FIG. 9D , when the position of the work vehicle 100 is not significantly deviated from the target route P but the heading is different from the direction of the target route P, the control device 180 changes the steering angle to reduce the azimuth deviation Δθ. In this case, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle may be adjusted, for example, according to the magnitudes of the position deviation Δx and the azimuth deviation Δθ. For example, the smaller the absolute value of the position deviation Δx, the greater the amount of change in the steering angle according to the azimuth deviation Δθ. When the absolute value of the position deviation Δx is large, the steering angle will be changed significantly to return to the route P, which inevitably increases the absolute value of the azimuth deviation Δθ. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the azimuth deviation Δθ closer to zero. For this reason, it is appropriate to relatively increase the weight of the azimuth deviation Δθ (i.e., the control gain) used to determine the steering angle.

[0101] Control techniques such as PID control or MPC control (model predictive control) can be applied to the steering control and speed control of work vehicle 100. By applying these control techniques, it is possible to smooth the control that brings work vehicle 100 closer to target path P.

[0102] If an obstacle is detected by one or more obstacle sensors 130 while the work vehicle 100 is traveling, the control device 180 may, for example, stop the work vehicle 100. At this time, the buzzer 220 may be caused to emit a warning sound or a warning signal may be sent to the terminal device 400. If the obstacle can be avoided, the control device 180 may generate a local route that can avoid the obstacle, and control the drive device 240 so that the work vehicle 100 travels along that route.

[0103] The work vehicle 100 in this embodiment is capable of autonomous driving not only in farm fields but also outside of farm fields. Outside of farm fields, the control device 180 can detect objects (e.g., other vehicles or pedestrians) that are located relatively far from the work vehicle 100 based on data output from the camera 120 or the LiDAR sensor 140. The control device 180 generates a local route to avoid the detected object, and performs speed control and steering control along the local route, thereby realizing autonomous driving on roads outside of farm fields.

[0104] In this manner, the work vehicle 100 in this embodiment can autonomously travel unmanned within and outside a field. FIG. 10 is a diagram schematically illustrating an example of a situation in which multiple work vehicles 100 are autonomously traveling within a field 70 and on a road 76 outside the field 70. An environmental map and a target route for an area including multiple fields and their surrounding roads are stored in the storage device 170. The environmental map and the target route can be generated by the management device 600 or the ECU 185. When the work vehicle 100 travels on a road, the work vehicle 100 travels along the target route with the work implement 300 raised while sensing the surroundings using sensing devices such as the camera 120 and the LiDAR sensor 140. During travel, the control device 180 sequentially generates local routes and causes the work vehicle 100 to travel along the local routes. This enables autonomous travel while avoiding obstacles. The target route may be changed during travel depending on the situation.

[0105] [2-2. Creating a work plan] In this embodiment, the work vehicle 100 automatically moves between fields and performs agricultural work in each field according to a work plan and target route created by the management device 600. The work plan includes information about one or more agricultural works to be performed by the work vehicle 100. For example, the work plan includes information about one or more agricultural works to be performed by the work vehicle 100 and the fields on which each agricultural work will be performed. The work plan may also include information about multiple agricultural works to be performed by the work vehicle 100 over multiple work days and the fields on which each agricultural work will be performed. More specifically, the work plan may be a database containing work schedule information indicating which agricultural machine will perform which agricultural work in which field at what time for each work day. An example of a case in which the work plan is data on such a work schedule will be described below. The work plan may be created by the processor 660 of the management device 600 based on information entered by the user using the terminal device 400. An example of a method for creating a work schedule will be described below.

[0106] Fig. 11 is a diagram showing an example of a setting screen 760 displayed on the display device 430 of the terminal device 400. In response to a user's operation using the input device 420, the processor 460 of the terminal device 400 starts up application software for creating a schedule and causes the display device 430 to display the setting screen 760 shown in Fig. 11. The user can input information necessary for creating a work schedule on this setting screen 760.

[0107] 11 shows an example of a settings screen 760 for when tilling with fertilizer application is performed as agricultural work in a rice field. The settings screen 760 is not limited to the one shown in the figure and can be modified as appropriate. The settings screen 760 in the example of FIG. 11 includes a date setting section 762, a crop plan selection section 763, a field selection section 764, an operation selection section 765, a worker selection section 766, a time setting section 767, a machine selection section 768, a fertilizer selection section 769, and an application amount setting section 770.

[0108] The date setting section 762 displays the date input by the input device 420. The input date is set as the date on which the farm work will be performed.

[0109] The crop plan selection unit 763 displays a list of names of crop plans created in advance. The user can select a desired crop plan from the list. Crop plans are created in advance for each type and variety of crop and are recorded in the storage device 650 of the management device 600. A crop plan is a plan that determines which crops will be cultivated (i.e., planted) in which fields. A crop plan is created by a manager who manages multiple fields before planting crops in the fields. In the example of Figure 11, a crop plan for the rice variety "Koshihibuki" is selected. In this case, the content set on the setting screen 760 is associated with the crop plan for "Koshihibuki."

[0110] The field selection section 764 displays the fields on the map. The user can select any field from the displayed fields. In the example of FIG. 11, the portion showing "Field A" is selected. In this case, the selected "Field A" is set as the field where farm work will be performed.

[0111] The work selection section 765 displays a plurality of farming works required to cultivate the selected crop. The user can select one farming work from the plurality of farming works. In the example of FIG. 11, "plowing" is selected from the plurality of farming works. In this case, the selected "plowing" is set as the farming work to be performed.

[0112] The worker selection section 766 displays workers who have been registered in advance. The user can select one or more workers from the multiple workers displayed. In the example of FIG. 11, "Worker B, Worker C" are selected from the multiple workers. In this case, the selected "Worker B, Worker C" are set as the workers in charge of performing or managing the agricultural work. In this embodiment, since the agricultural machine performs the agricultural work automatically, the worker does not actually perform the agricultural work, but may simply remotely monitor the agricultural work performed by the agricultural machine.

[0113] The time setting section 767 displays the work time input from the input device 420. The work time is specified by a start time and an end time. The input work time is set as the scheduled time for the farm work to be performed.

[0114] The machine selection unit 768 is a section for setting the agricultural machine to be used in the agricultural work. The machine selection unit 768 may display, for example, the type or model of the agricultural machine previously registered by the management device 600, and the type or model of the implement that can be used. The user can select a specific machine from the displayed machines. In the example of FIG. 11, an implement with the model number "NW4511" has been selected. In this case, that implement is set as the machine to be used in the agricultural work.

[0115] The fertilizer selection section 769 displays the names of multiple fertilizers that have been registered in advance by the management device 600. The user can select a specific fertilizer from the multiple fertilizers displayed. The selected fertilizer is set as the fertilizer to be used in the farm work.

[0116] The dispersion amount setting section 770 displays a numerical value input from the input device 420. The input numerical value is set as the dispersion amount.

[0117] When the crop plan, field, agricultural work, worker, work time, fertilizer, and application amount are entered on the setting screen 760 and "Register" is selected, the communication device 490 of the terminal device 400 transmits the entered information to the management device 600. The processor 660 of the management device 600 stores the received information in the storage device 650. Based on the received information, the processor 660 creates a schedule of agricultural work to be performed by each agricultural machine and stores the schedule in the storage device 650.

[0118] The information on agricultural work managed by the management device 600 is not limited to the information described above. For example, the type and amount of pesticide to be used in the field may be set on the setting screen 760. Information on agricultural work other than the agricultural work shown in FIG. 11 may also be set.

[0119] FIG. 12 is a diagram showing an example of an agricultural work schedule (i.e., a work plan) created by the management device 600. The schedule in this example includes information indicating, for each registered agricultural machine, the date and time the agricultural work will be performed, the field, the work content, and the implement to be used. In addition to the information shown in FIG. 12, the schedule may also include other information depending on the work content, such as the type of pesticide or the amount of pesticide to be sprayed. In accordance with this schedule, the processor 660 of the management device 600 issues agricultural work instructions to the work vehicle 100. The schedule may be downloaded by the control device 180 of the work vehicle 100 and also stored in the storage device 170. In this case, the control device 180 may autonomously start operating according to the schedule stored in the storage device 170.

[0120] In this embodiment, the work plan is created by management device 600, but the work plan may also be created by another device. For example, processor 460 of terminal device 400 or control device 180 in work vehicle 100 may have a function for generating or updating a work plan.

[0121] [2-3. Creating map data and route planning using the created map data] The management device 600 according to this embodiment functions as a map creation system that creates map data for the autonomous driving of agricultural machinery (in this example, the work vehicle 100). "Map data for the autonomous driving of agricultural machinery" is data that uses a predetermined coordinate system to represent the positions or areas of objects (including geographical features) that exist in the environment in which the agricultural machinery is to be driven autonomously, and may further include attribute information of the objects. "Creating map data for the autonomous driving of agricultural machinery" includes adding new data to the map data and updating (or correcting) the data contained in the map data.

[0122] The management device 600, which functions as a map creation system according to this embodiment, includes a storage device 650 that stores map data for autonomously driving agricultural machinery and a processing device (processor) 660. If road data is not included in a predetermined area indicated by the map data, the processing device 660 creates road data for the predetermined area based on the trajectory of a vehicle equipped with a GNSS receiver traveling through the predetermined area, acquired based on GNSS data output from the GNSS receiver, and the vehicle's attribute information. "Creating road data for a predetermined area" includes adding new roads as features present in the predetermined area indicated by the map data. Note that "creating road data for a predetermined area" may also include adding or updating (modifying) road attribute information when road data is already included in the predetermined area indicated by the map data. The "predetermined area" is a predefined area within the map data, and is stored, for example, in the storage device 650 of the management device 600.

[0123] The management device 600 according to this embodiment can further cooperate with the control system 160 of the work vehicle 100 to function as a route planning system for the work vehicle 100. The route planning system according to this embodiment includes the map creation system described above. In the route planning system, the processing device 660 of the management device 600 creates a route for the autonomously driving work vehicle 100 to travel outside of a field, using road data in a predetermined area of ​​the map data. In other words, the processing device 660 of the management device 600 of the route planning system can create a route (global route) for the autonomously driving work vehicle 100, using the road data created by the processing device 660 of the management device 600 of the map creation system.

[0124] The map creation system and route planning system according to this embodiment will be described with reference to Figures 13A, 13B, 13C, and 13D. Figure 13A is a diagram that schematically shows an area (surrounding environment) in which a work vehicle 100, which is an agricultural machine, performs autonomous driving, and Figure 13B is a diagram that schematically shows a map of the area (surrounding environment) enclosed by a dashed line in Figure 13A. Figures 13C and 13D are schematic diagrams that explain the procedure by which the map creation system according to this embodiment creates map data using the map data of Figure 13B.

[0125] The map data in FIG. 13B is stored, for example, in the storage device 650 of the management device 600. The map data in FIG. 13B is a two-dimensional digital map and can be created by the management device 600 or another device. The map data in FIG. 13B may also be created based on data acquired by the management device 600 from an external source. Note that while the map shown in FIG. 13B is a two-dimensional digital map, the map creation system and route planning system according to this embodiment can also be applied to map data in other formats, such as point cloud maps or grid maps, and can also be applied to three-dimensional map data rather than two-dimensional map data. Map data such as that shown in FIG. 13B is created for the entire area in which the work vehicle 100 can travel.

[0126] The area shown in FIG. 13A includes multiple fields 70 where the work vehicle 100 performs agricultural work and the roads 76 in the surrounding areas (including farm roads 76g and public roads 76f). In FIG. 13A, an example of a starting point S and a destination point G for the automatic driving of the work vehicle 100 is indicated by a star. The starting point S and the destination point G may be set, for example, by a user. Alternatively, the management device 600 may set the starting point S and the destination point G according to the work schedule for each work day. The work schedule for each work day is generated in advance by the management device 600 and stored in the storage device 650, as described with reference to FIG. 12. In addition to the starting point S and the destination point G, one or more waypoints may be set. One or both of the scheduled arrival time and the scheduled departure time may be recorded for each of the starting point S, the destination point G, and the waypoint.

[0127] The map data in FIG. 13B, which corresponds to the area surrounded by the dashed line in FIG. 13A, includes information (data) about the positions (e.g., latitude and longitude) of these features. The map data in FIG. 13B may further include attribute information about the features. For example, the map data in FIG. 13B may include information about the type of road (e.g., whether it is a farm road) and information about the width for each road 76. Here, roads 76a, 76b, and 76d present in the area surrounded by the dashed line in FIG. 13A are all farm roads. However, the map data in FIG. 13B does not include data about road 76a between points Pa and Pb, which is one of the features present in the area surrounded by the dashed line in FIG. 13A. In other words, road 76a does not exist in the map data in FIG. 13B. In FIG. 13B, areas where road data exists are indicated by hatching. When the map data of FIG. 13B is stored in the storage device 650, the processing device 660 of the management device 600 cannot recognize a route that includes the road 76a as a route for the work vehicle 100.

[0128] Referring to FIG. 13C, a procedure for the map creation system according to this embodiment to create map data using the map data of FIG. 13B will be described. In this example, the map creation system according to this embodiment creates data for road 76a in the map data of FIG. 13B. That is, in this example, an area Ra corresponding to road 76a is set in advance as a predetermined area and stored, for example, in the storage device 650 of the management device 600. FIGS. 13C and 13D respectively show an area Ra corresponding to road 76a, an area Rb corresponding to road 76b, and an area Rd corresponding to road 76d. The predetermined area does not necessarily coincide with the area in which road 76a exists. For example, the predetermined area for creating data for road 76a extending in the vertical direction (first direction) of the figure may be an area defined by a line segment 77b that is a part of the lower end (lower end) of road 76b located above road 76a and a line segment 77d that is a part of the upper end (upper end) of road 76d located below road 76a. In the figure, line segment 77b, which is a part of the lower end of path 76b, and line segment 77d, which is a part of the upper end of path 76d, are indicated by double-headed arrows. Line segments 77b and 77d are line segments that extend in a second direction that intersects with the first direction. The second direction may be perpendicular to the first direction, but is not limited to being perpendicular to the first direction. Point Pa is located on line segment 77b, which is included in the lower end of path 76b, and point Pb is located on line segment 77d, which is included in the upper end of path 76d.

[0129] The area (predetermined area) from which the processing device 660 acquires the vehicle trajectory may be a substantially rectangular area defined by two line segments, as in the example described above, but the method for specifying the predetermined area is not limited to this example. The predetermined area may also be set / changed by the user. In the illustrated example, the area corresponding to road 76a extends in the first direction, but an area corresponding to a curved road may also be specified as the predetermined area. The number of predetermined areas is not limited to one, and multiple areas may be set, and the following processing may be performed for each of the multiple predetermined areas on the map data.

[0130] As shown in FIG. 13C, in the map creation system according to this embodiment, when road data is not included in a predetermined area (here, area Ra corresponding to road 76a) in the map data, the processing device 660 of the management device 600 creates data for road 76a in the map data of FIG. 13B based on a trajectory V1a of vehicle 100d in area Ra acquired based on GNSS data output from a GNSS receiver of vehicle 100d equipped with a GNSS receiver traveling in area Ra, and on attribute information of vehicle 100d. At this time, the attribute information of the vehicle that actually traveled road 76a can be stored in the storage device 650 in association with the data for road 76a in the map data. The processing device 660 acquires the attribute information of vehicle 100d by communicating with vehicle 100d.

[0131] Note that vehicles equipped with GNSS receivers traveling within a predetermined area are not limited to agricultural machinery, and the trajectory and attribute information can also be used for automobiles other than agricultural machinery (e.g., passenger cars, light trucks, trucks, etc.) and work vehicles other than agricultural vehicles. The trajectory of a vehicle equipped with a GNSS receiver may be a trajectory acquired as a continuous line based on GNSS data, as in the example shown in Figure 13C, or may be a trajectory obtained by connecting multiple discrete points acquired based on GNSS data, as will be described later with reference to Figure 13D.

[0132] The example shown in FIG. 13C will be described in more detail. In the example shown in FIG. 13C, vehicle 100d turns left halfway down road 76d to enter road 76a, travels along road 76a from point Pb to point Pa, enters road 76b from point Pa, and travels along road 76b. At this time, processing device 660 can obtain a trajectory V1 of vehicle 100d. In this example, area Rd corresponding to road 76d, area Ra corresponding to road 76a, and area Rb corresponding to road 76b do not overlap with each other, and their boundaries are adjacent to each other. The obtained trajectory V1 of vehicle 100d includes a trajectory V1d traveled within area Rd corresponding to road 76d, a trajectory V1a traveled within area Ra corresponding to road 76a, and a trajectory V1b traveled within area Rb corresponding to road 76b. The processing device 660 generates data on the road 76a using, from the acquired trajectory V1, a trajectory V1a of the vehicle 100d within the region Ra corresponding to the road 76a. The processing device 660 does not use, from the trajectory V1 of the vehicle 100d, a trajectory V1b within the region corresponding to the road 76b and a trajectory V1d within the region corresponding to the road 76d, but uses only the trajectory V1a within the region Ra corresponding to the road 76a. When road data does not exist in a predetermined region (here, region Ra) and the trajectory V1 of the vehicle 100d exists in the predetermined region, the processing device 660 generates data on the road 76a using the trajectory V1a within the region Ra of the trajectory V1. The processing device 660 may obtain the trajectory V1a, for example, by extracting a portion of the trajectory V1 that does not overlap with the region Rd corresponding to the road 76d and that does not overlap with the region Rb corresponding to the road 76b.

[0133] The processing device 660 also acquires attribute information of the vehicle 100d. The vehicle attribute information acquired by the processing device 660 of the management device 600 is information related to the attributes of the vehicle, such as information about the width of the vehicle, information about the type of the vehicle, whether the vehicle is an agricultural machine, whether the vehicle is equipped with an implement, whether the vehicle is an agricultural machine equipped with an implement, and the like. If the vehicle is equipped with an implement, the information may further include information about the width of the equipped implement and the type of implement. For example, the processing device 660 of the management device 600 acquires the vehicle's width information as the vehicle's attribute information and sets the width of the road 76a in the map data to be equal to or greater than the acquired vehicle width value. For example, the acquired vehicle width value may be stored in the storage device 650 as a lower limit value for the width of the road 76a.

[0134] The processing device 660 may acquire, for example, the vehicle width or the width of an implement attached to the vehicle as attribute information of the vehicle 100d. For example, the processing device 660 may acquire, as vehicle attribute information, vehicle width information, information on whether or not a work machine (implement) is attached to the vehicle, and, if an implement is attached to the vehicle, information on the width of the implement. For example, if an implement is attached to the vehicle (agricultural machine), the processing device 660 of the management device 600 may set the width of the road 76a in the map data to be equal to or greater than the acquired width value of the implement, and if no implement is attached to the vehicle, the processing device 660 may set the width of the road 76a in the map data to be equal to or greater than the acquired width value of the vehicle. If an implement is attached to the vehicle, the processing device 660 may set the larger of the width of the vehicle body or the width of the implement as the lower limit of the width of the road 76a in the map data. In the illustrated example, the vehicle 100d is an agricultural machine (tractor) attached with an implement 300. 13C, the processing device 660 creates graphic data 76a1 in which the width of the trajectory V1a (line) of the vehicle 100d is set to the width of the vehicle body 100d or the width of the implement 300, and sets the created graphic data 76a1 as data for the road 76a. The area of ​​the graphic data 76a1 can be set as the area representing the road 76a. The processing device 660 connects (associates) both ends of the road 76a (graphic data 76a1) to the roads 76d and 76b.

[0135] 13D, the processing device 660 may refer to (acquire) a plurality of points Pa1 (indicated by x marks in the figure) that make up the trajectory V1a of the vehicle 100d, obtain a line L1 that approximates the trajectory V1a of the vehicle by the least squares method or the like, create graphic data 76a1 in which the width of the line L1 is set to the width of the vehicle body 100d or the width of the implement 300, and set the created graphic data 76a1 as the map data for the road 76a. In this case as well, the processing device 660 connects both ends of the road 76a (graphic data 76a1) to the roads 76d and 76b.

[0136] The map creation system according to this embodiment can efficiently create map data for autonomously driven agricultural machinery. For example, farm roads may be less well maintained than general roads, and such poorly maintained roads may not exist in the map data. The map creation system according to this embodiment can add road data to map data based on information about a vehicle equipped with a GNSS receiver that has actually traveled that road (here, information including the vehicle's trajectory and vehicle attribute information). By using not only the vehicle's trajectory but also the vehicle's attribute information, the road's attribute information can be added to the map data based on the track record of the vehicle that actually traveled that road. The attribute information of the vehicle that actually traveled that road is associated with the data for the road 76a and stored in the storage device 650, thereby creating map data useful for autonomously driven agricultural machinery.

[0137] The route planning system according to this embodiment can create a suitable route for an autonomously driven agricultural machine (work vehicle 100). For example, roads such as poorly maintained farm roads can be included in the route (global route) for the autonomously driven agricultural machine. For example, by using map data obtained by the procedure described with reference to FIG. 13C or FIG. 13D, the route planning system according to this embodiment can create a route for the work vehicle 100 that includes road 76a. Since road 76a can be included in the route, it may be possible to create a more suitable route for the autonomously driven agricultural machine (e.g., a route that can reach the destination in a shorter distance and / or time). If the map data includes information on the width of each road, the route planning system according to this embodiment can create a route for the work vehicle 100 by combining roads that are equal to or smaller than the width of the work vehicle 100. If the work vehicle 100 is equipped with an implement, the route may be created by combining roads that are equal to or smaller than the width of the implement. Information on the type and width of the implement attached to the work vehicle 100 is stored, for example, in the storage device 170 of the work vehicle 100. When the implement is connected to the work vehicle 100, it may be automatically recognized and recorded.

[0138] When the vehicle attribute information acquired by the processing device 660 of the management device 600 includes information as to whether the vehicle is an agricultural machine, the processing device 660 of the management device 600 may set the type of the road 76a in the map data to a farm road if the vehicle is an agricultural machine. For example, information regarding the type of the road 76a (for example, farm road / general road) may be stored in the storage device 650 in association with the data of the road 76a.

[0139] When the vehicle attribute information acquired by the processing device 660 of the management device 600 includes information on the width of the vehicle and information on whether the vehicle is an agricultural machine equipped with an implement, the processing device 660 of the management device 600 may set the width of the road 76a in the map data to be equal to or greater than the width of the implement if the vehicle is an agricultural machine equipped with an implement. For example, the acquired value of the width of the implement may be stored in the storage device 650 as the lower limit value of the width of the road 76a.

[0140] The processing device 660 of the management device 600 may acquire the vehicle's orientation at one or more points in the area Ra corresponding to the road 76a based on the trajectory of the vehicle traveling in the area Ra corresponding to the road 76a, and set the acquired vehicle orientation as the orientation at each corresponding point on the road 76a. The processing device 660 of the management device 600 may store the vehicle's orientation at one or more points in the area Ra corresponding to the road 76a in the storage device 650 as the orientation of the road 76a at each point. The processing device 660 of the management device 600 may create data for the road 76a using the orientations at multiple points (positions) in the area Ra corresponding to the road 76a.

[0141] The processing device 660 of the management device 600 can associate the data of the created road 76a with other roads that exist in the map data of Fig. 13B. For example, the processing device 660 of the management device 600 can link (associate) the data of the created road 76a with the data of roads 76b and 76d that existed in the map data of Fig. 13B. By using map data in which the data of road 76a is associated with the data of roads 76b and 76d, the route planning system according to this embodiment can create a suitable route for an autonomously driven agricultural machine.

[0142] The processing device 660 of the management device 600 can update the road attribute information in the map data, even for areas in the map data where road data is already included, based on information about vehicles equipped with GNSS receivers that actually travel on those roads (here, information including the vehicle's trajectory and vehicle attribute information). For example, when map data obtained by the procedure described with reference to FIG. 13C is stored in the storage device 650, data about road 76a is included in the map data. In this case, the processing device 660 of the management device 600 can update the attribute information of road 76a in the map data based on the trajectory of a vehicle equipped with a GNSS receiver traveling through area Ra corresponding to road 76a, which is acquired based on the GNSS data output from the GNSS receiver, and the vehicle's attribute information. Updating the road data in the map data can maintain the accuracy of the map data.

[0143] For example, if the attribute information of a vehicle acquired by the processing device 660 of the management device 600 includes information on the width of the vehicle, the processing device 660 of the management device 600 determines whether the acquired width of the vehicle is greater than the width of the road 76a stored in the storage device 650, and if the acquired width of the vehicle is greater than the width of the road 76a stored in the storage device 650, the processing device 660 of the management device 600 rewrites (updates) the width of the road 76a stored in the storage device 650 to the acquired width of the vehicle. If the acquired width of the vehicle is equal to or less than the width of the road 76a stored in the storage device 650, the processing device 660 of the management device 600 does not update the width of the road 76a stored in the storage device 650.

[0144] When the vehicle attribute information acquired by the processing device 660 of the management device 600 includes information on the width of the vehicle and information on whether the vehicle is an agricultural machine equipped with an implement, the processing device 660 of the management device 600 may acquire the width of the implement if the vehicle is an agricultural machine equipped with an implement, and determine whether the width of the implement is greater than the width of the road 76a stored in the storage device 650. When the width of the implement is greater than the width of the road 76a stored in the storage device 650, the processing device 660 of the management device 600 rewrites (updates) the width of the road 76a stored in the storage device 650 to the width of the implement. When the width of the implement is equal to or less than the width of the road 76a stored in the storage device 650, the processing device 660 of the management device 600 does not update the width of the road 76a stored in the storage device 650.

[0145] The processing device 660 of the management device 600 may update the data of the road it created (here, the data of the road 76a) as in the example described above, or may update the data of other roads.

[0146] The processing device 660 of the management device 600 may further acquire the reception strength of satellite signals from the GNSS receiver of the vehicle when the trajectory of the vehicle equipped with the GNSS receiver passing through a predetermined area is acquired based on the GNSS data output from the GNSS receiver. The processing device 660 of the management device 600 may determine whether the acquisition of the vehicle trajectory was performed in a situation where satellite signals can be received normally, based on the reception strength of the satellite signals from the GNSS receiver. For example, if the reception strength of the satellite signals from the GNSS receiver is higher than a predetermined strength, the processing device 660 of the management device 600 may determine that the acquisition of the vehicle trajectory was performed in a situation where satellite signals can be received normally. The processing device 660 of the management device 600 may create or update road data only when it is determined that the acquisition of the vehicle trajectory was performed in a situation where satellite signals can be received normally.

[0147] 15A and 15B are diagrams showing examples of the reception strength of satellite signals. FIG. 15A shows an example of the reception strength of each satellite signal when satellite signals can be received normally. FIG. 15B shows an example of the reception strength of each satellite signal when satellite signals cannot be received normally (i.e., reception interference may occur). In this example, satellite signals from 12 satellites are received, and the reception strength is expressed as a carrier-to-noise power density ratio (C / N0) value. Note that this is just one example, and the number of satellites from which satellite signals can be received and the expression of the reception strength depend on the system. As an example, the presence or absence of reception interference can be determined by whether the number of satellites whose reception strength exceeds a predetermined reference value is equal to or greater than a threshold value (e.g., 4). In FIGS. 15A and 15B, an example of the reference value for reception strength is shown by a dashed line. If the threshold value is, for example, 4, in the example of FIG. 15A, the number of satellites whose reception strength exceeds the reference value is 5, which is equal to or greater than the threshold value. Therefore, in such a case, it can be determined that satellite signals can be received normally. On the other hand, in the example of FIG. 15B, the number of satellites whose reception strength exceeds the reference value is one, which is less than the threshold value. Therefore, in such a case, it may be determined that normal reception is not possible. Note that the above method is merely an example, and other methods may be used to determine whether each road is a road where satellite signals can be received normally. For example, if the GNSS data includes a value indicating the reliability of positioning, it may be determined whether satellite signals can be received normally based on that reliability value.

[0148] FIG. 14 is a flowchart showing an example of the map creation process by the processing device 660 of the management device 600 described with reference to FIGS. 13A to 13D.

[0149] In step S201, the processing device 660 of the management device 600 acquires the trajectory of a vehicle traveling within the area Ra corresponding to the road 76a and attribute information of the vehicle based on the GNSS data output from the GNSS receiver of the vehicle equipped with the GNSS receiver traveling within the area Ra corresponding to the road 76a.

[0150] In step S202, the processing device 660 of the management device 600 determines whether data on the road 76a is included in the map data stored in the storage device 650. Note that step S202 may be performed before step S201.

[0151] For example, when the map data stored in the memory device 650 does not include data for the road 76a, as in the map data of Figure 13B, the processing device 660 of the management device 600 creates data for the road 76a in the map data stored in the memory device 650 based on the trajectory of the vehicle traveling within the area Ra corresponding to the road 76a and the attribute information of the vehicle, which were acquired in step S201 (step S203).

[0152] For example, when the map data stored in the memory device 650 already includes data on the road 76a, such as the map data obtained by the procedure described with reference to Figure 13C, the processing device 660 of the management device 600 determines whether or not to update the data on the road 76a in the map data stored in the memory device 650 based on the trajectory of the vehicle traveling within the area Ra corresponding to the road 76a and the attribute information of the vehicle obtained in step S201 (step S204).

[0153] If it is determined in step S204 that an update is necessary, the processing device 660 of the management device 600 updates the data of the attribute information of the road 76a in the map data stored in the storage device 650 (step S205). If it is determined in step S204 that an update is not necessary, the processing device 660 of the management device 600 does not update the data of the road 76a in the map data stored in the storage device 650 (step S206).

[0154] The processing device 660 of the management device 600 repeats the operations from step S201 to step S206 until an end command is issued (step S207).

[0155] Here, an example has been described in which the processing device (processor) 660 of the management device 600 functions as a processing device of the map creation system, but some or all of the processing executed by the processing device 660 of the management device 600 in the map creation system may be executed by another device. Such other device may be any of the terminal device 400 (processor 460), the control device 180 (map creation ECU 186) of the work vehicle 100, and the operation terminal 200. For example, if some of the processing executed by the processing device 660 of the management device 600 is executed by the control device 180, the combination of the management device 600 and the control device 180 functions as a processing device of the map creation system. If the combination of the management device 600 and the control device 180 functions as a processing device of the map creation system, map data may be stored in the storage device 170 of the work vehicle 100.

[0156] [2-4. Local Path Planning] When the work vehicle 100 is traveling outside a field, an obstacle such as a pedestrian or another vehicle may be present on or near the global route. To prevent the work vehicle 100 from colliding with the obstacle, the ECU 185 in the control device 180 sequentially generates a local route that can avoid the obstacle while the work vehicle 100 is traveling. The ECU 185 generates the local route based on sensing data acquired by sensing devices (such as the obstacle sensor 130, the LiDAR sensor 140, and the camera 120) equipped on the work vehicle 100 while the work vehicle 100 is traveling. The local route is defined by a plurality of waypoints along a portion of the second route 30B. The ECU 185 determines whether an obstacle is present on or near the path of the work vehicle 100 based on the sensing data. If such an obstacle is present, the ECU 185 sets a plurality of waypoints to avoid the obstacle and generates a local route. If no obstacles are present, ECU 185 generates a local route that is approximately parallel to second route 30B. Information indicating the generated local route is sent to ECU 184 for automatic driving control. ECU 184 controls ECU 181 and ECU 182 so that work vehicle 100 travels along the local route. This allows work vehicle 100 to travel while avoiding obstacles. Note that if there are traffic lights on the road on which work vehicle 100 is traveling, work vehicle 100 may, for example, recognize the traffic lights based on images captured by camera 120, stop when the light is red, and start when the light is green.

[0157] FIG. 16 is a diagram illustrating an example of a global route and a local route generated in an environment where obstacles are present. In FIG. 16, the global route 30 is illustrated by a dotted arrow, and the local route 32, which is generated sequentially during travel, is illustrated by a solid arrow. The global route 30 is defined by multiple waypoints 30p. The local route 32 is defined by multiple waypoints 32p set at intervals shorter than the waypoints 30p. Each waypoint has, for example, position and orientation information. The management device 600 generates the global route 30 by setting multiple waypoints 30p at multiple locations, including intersections on a road 76. The intervals between the waypoints 30p may be relatively long, for example, several meters to several tens of meters. The ECU 185 generates the local route 32 by setting multiple waypoints 32p based on sensing data output from the sensing device while the work vehicle 100 is traveling. The intervals between waypoints 32p on the local route 32 are shorter than the intervals between waypoints 30p on the global route 30. The intervals between waypoints 32p can be, for example, several tens of centimeters (cm) to several meters (m). The local route 32 is generated within a relatively small range (for example, a range of about several meters) starting from the position of the work vehicle 100. FIG. 16 shows an example of a series of local routes 32 generated while the work vehicle 100 travels along a road 76 between fields 70 and turns left at an intersection. While the work vehicle 100 is moving, the ECU 185 repeats the operation of generating a local route from the position of the work vehicle 100 estimated by the ECU 184 to a point, for example, several meters ahead. The work vehicle 100 travels along the local routes that are successively generated.

[0158] In the example shown in FIG. 16, an obstacle 40 (e.g., a person) is present ahead of the work vehicle 100. In FIG. 16, an example of a range sensed by a sensing device such as the camera 120, the obstacle sensor 130, or the LiDAR sensor 140 mounted on the work vehicle 100 is illustrated as a sector. In such a situation, the ECU 185 generates a local route 32 so as to avoid the obstacle 40 detected based on the sensing data. The ECU 185 determines whether there is a possibility that the work vehicle 100 will collide with the obstacle 40, for example, based on the sensing data and the width of the work vehicle 100 (including the width of an implement if one is attached). If there is a possibility that the work vehicle 100 will collide with the obstacle 40, the ECU 185 sets multiple waypoints 32p so as to avoid the obstacle 40, and generates the local route 32. Note that the ECU 185 may recognize not only the presence or absence of an obstacle 40 but also the state of the road surface (for example, mud, depressions, etc.) based on sensing data, and if a location where travel is difficult is detected, it may generate a local route 32 to avoid such a location. The work vehicle 100 travels along the local route 32. If the obstacle 40 cannot be avoided no matter how the local route 32 is set, the control device 180 may stop the work vehicle 100. At this time, the control device 180 may send a warning signal to the terminal device 400 to alert the monitor. After stopping, if it is recognized that the obstacle 40 has moved and there is no longer any risk of collision, the control device 180 may resume travel of the work vehicle 100.

[0159] 17 is a flowchart showing the route planning and travel control operations in this embodiment. By executing the operations of steps S141 to S146 shown in FIG. 17, route planning can be performed and the automatic travel of work vehicle 100 can be controlled.

[0160] In the example shown in FIG. 17, the management device 600 first acquires a map and a work plan from the storage device 650 (step S141). Next, the management device 600 performs global route design for the work vehicle 100 using the method described above based on the map and the work plan (step S142). Global route design can be performed at any timing before the work vehicle 100 starts traveling. Global route design may be performed immediately before the work vehicle 100 starts traveling, or may be performed one day or earlier before the start of traveling. In addition, the global route may be generated based on information (e.g., starting point, destination point, waypoints, etc.) input by the user using the terminal device 400. As described above, when generating a route to a farm field or a route from the farm field to another location (for example, a storage location or waiting location for the work vehicle 100), the management device 600 generates at least one of the following routes for the work vehicle 100: a route that prioritizes farm roads, a route that prioritizes roads that follow specific features, and a route that prioritizes roads on which satellite signals can be received normally, based on attribute information for each road on the map. The management device 600 transmits data indicating the generated global route to the work vehicle 100. The management device 600 then issues a travel instruction to the work vehicle 100 at a predetermined timing. In response to this, the control device 180 of the work vehicle 100 controls the drive unit 240 to start the work vehicle 100 traveling (step S143). This causes the work vehicle 100 to start traveling. The timing to start traveling can be set, for example, to an appropriate timing that enables the work vehicle 100 to arrive at the farm field by the scheduled start time of the first agricultural work on each work day indicated in the work plan. While the work vehicle 100 is traveling, the ECU 185 of the control device 180 uses the method described above to design a local route to avoid a collision with an obstacle (step S144). If no obstacle is detected, the ECU 185 generates a local route that is approximately parallel to the global route. If an obstacle is detected, the ECU 185 generates a local route that can avoid the obstacle. Next, the ECU 184 determines whether or not to end the traveling of the work vehicle 100 (step S145). For example, if a local route that can avoid the obstacle cannot be generated, or if the work vehicle 100 has arrived at the destination, the ECU 184 stops the work vehicle 100 (step S146).If no obstacle is detected, or if a local route that can avoid the obstacle has been generated, the process returns to step S143, and ECU 184 causes work vehicle 100 to travel along the generated local route. Thereafter, the operations of steps S143 to S145 are repeated until it is determined in step S145 that travel has ended.

[0161] Through the above operations, the work vehicle 100 can automatically travel along the generated route without colliding with any obstacles.

[0162] In the example of FIG. 17 , once the global route is generated, it is not changed until the destination is reached. This example is not limiting, and the global route may be modified while the work vehicle 100 is traveling. For example, while the work vehicle 100 is traveling, the ECU 185 may recognize at least one of the condition of the road on which the work vehicle 100 is traveling, the condition of the vegetation around the work vehicle 100, and the weather condition based on sensing data acquired by a sensing device such as the camera 120 or the LiDAR sensor 140, and may change the global route if the recognized condition satisfies a predetermined condition. When the work vehicle 100 is traveling along the global route, some roads may be impassable. For example, heavy rain may cause the road to become muddy, the road surface may collapse, or the road may be impassable due to an accident or other cause. Alternatively, the vegetation around a farm road may grow longer than expected, or new buildings may have been constructed, making it difficult to receive satellite signals from GNSS satellites. Taking such situations into consideration, ECU 185 may detect roads that are difficult to travel based on sensing data acquired while work vehicle 100 is traveling, and change the route to avoid such roads. Furthermore, when ECU 185 changes the route, it may store the changed route in storage device 170 and transmit information about the changed route to management device 600. In that case, management device 600 may use the changed route the next time it generates a route to the same field. This enables flexible route planning that responds to changes in the traveling environment.

[0163] As described above, the present disclosure includes the map creation system and route planning system described in the following items.

[0164] [Item 1] a storage device that stores map data for an autonomously driven agricultural machine; a processing device that, when road data is not included in a predetermined area indicated by the map data, creates road data for the predetermined area based on a trajectory of a vehicle equipped with a GNSS receiver traveling in the predetermined area, the trajectory being acquired based on GNSS data output from the GNSS receiver, and attribute information of the vehicle; A map creation system comprising:

[0165] [Item 2] The processing device includes: 2. The map creation system according to item 1, wherein, if the attribute information of the vehicle includes information about the width of the vehicle, the width of the road in the specified area is set to be equal to or greater than the width of the vehicle.

[0166] [Item 3] The processing device includes: Item 1. A map creation system as described in item 1, wherein the attribute information of the vehicle includes information on the width of the vehicle and information on whether the vehicle is an agricultural machine equipped with a work vehicle, and if the vehicle is an agricultural machine equipped with a work implement, the width of the road in the specified area is set to be equal to or greater than the width of the work implement.

[0167] [Item 4] The processing device includes: 4. The map creation system according to item 2 or 3, wherein the vehicle attribute information includes information as to whether the vehicle is an agricultural machine, and if the vehicle is an agricultural machine, the type of road in the specified area is set as a farm road.

[0168] [Item 5] The processing device includes: 5. A map creation system according to any one of items 1 to 4, wherein the orientation of the vehicle in the specified area, obtained based on at least the trajectory of the vehicle in the specified area, is set as the orientation of the road in the specified area.

[0169] [Item 6] The processing device includes: 6. A map creation system according to any one of items 1 to 5, which associates the created roads in the specified area with other roads that exist in the map data.

[0170] [Item 7] The processing device includes: 7. A map creation system according to any one of items 1 to 6, wherein, if the specified area includes road data, the road data for the specified area is updated based on the trajectory of a vehicle equipped with a GNSS receiver traveling in the specified area, acquired based on GNSS data output from the GNSS receiver, and attribute information of the vehicle.

[0171] [Item 8] Item 8. The map creation system according to item 7, wherein the processing device updates the width of the road in the specified area to the width of the vehicle if the attribute information of the vehicle includes the width of the vehicle and the width of the vehicle is greater than the width of the road in the specified area.

[0172] [Item 9] Item 8. The map creation system according to item 7, wherein the processing device updates the width of the road in the specified area to the width of the work implement if the attribute information of the vehicle includes the type of the vehicle, the vehicle is an agricultural machine equipped with a work implement, and the width of the work implement is greater than the width of the road in the specified area.

[0173] [Item 10] The processing device includes: further acquiring a reception strength of a satellite signal by the GNSS receiver provided in the vehicle when the trajectory of the vehicle in the predetermined area is acquired; 10. A map creation system according to any one of items 1 to 9, wherein, when the reception strength is higher than a predetermined strength, road data for the predetermined area is created or updated in the map data.

[0174] [Item 11] The processing device includes: As the attribute information of the vehicle, information on the width of the vehicle, information on whether a work vehicle is attached to the vehicle, and, if a work vehicle is attached to the vehicle, information on the width of the work vehicle are acquired; If a work implement is attached to the vehicle, the width of the road in the predetermined area is set to be equal to or greater than the width of the work implement, 11. The map creation system according to any one of items 1 to 10, wherein, when the vehicle is not equipped with a work implement, the width of the road in the specified area is set to be equal to or greater than the width of the vehicle.

[0175] [Item 12] 12. A map creation system according to any one of items 1 to 11, The processing device is a route planning system that creates a route for an autonomously driven agricultural machine to travel outside a field using road data in the specified area of ​​the map data.

[0176] [Item 13] The processing device includes: Item 13. A route planning system according to item 12, which creates the route by combining roads having widths equal to or smaller than the width of the agricultural machine.

[0177] [Item 14] The processing device includes: Item 13. A path planning system according to item 12, wherein, when an implement is attached to the agricultural machine, the path is created by combining roads having a width equal to or smaller than the width of the implement. [Industrial Applicability]

[0178] The technology disclosed herein can be applied to map creation systems and route planning systems that create map data for the automatic operation of agricultural machinery such as tractors, harvesters, rice transplanters, riding tillers, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, or agricultural robots. [Explanation of symbols]

[0179] 40···Obstacle, 50···GNSS satellite, 60···Reference station, 70···Field, 72···Work area, 74···Headland, 76···Road, 80···Network, 100···Work vehicle, 101···Vehicle body, 102···Engine, 103···Transmission, 104···Wheels, 105···Cabin, 106···Steering device, 1 07...Driver's seat, 108...Coupling device, 110...Positioning device (GNSS unit), 111...GNSS receiver, 112...RTK receiver, 115...Inertial measurement unit (IMU), 116...Processing circuit, 120...Camera, 130...Obstacle sensor, 140...LiDAR sensor, 150...Sensor group, 152...Steering wheel sensor, 154 Turning angle sensor, 156, axle sensor, 160, control system, 170, storage device, 180, control device, 181 to 186, ECU, 190, communication device, 200, operation terminal, 210, operation switch group, 220, buzzer, 240, drive device, 300, work machine (implement), 340, drive device, 380, control device , 390....Communication device, 400....Terminal device, 420....Input device, 430....Display device, 450....Storage device, 460....Processor, 470....ROM, 480....RAM, 490....Communication device, 600....Management device, 650....Storage device, 660....Processor (processing device), 670....ROM, 680....RAM, 690....Communication device

Claims

1. A map creation system, The map creation system includes: a storage device that stores map data for an autonomously driven agricultural machine; a processing device that, when road data is not included in a predetermined area indicated by the map data, creates road data for the predetermined area based on a trajectory of a vehicle equipped with a GNSS receiver traveling in the predetermined area, the trajectory being acquired based on GNSS data output from the GNSS receiver, and attribute information of the vehicle; Equipped with the processing device creates a route for an autonomously driven agricultural machine to travel outside a field using road data in the predetermined area of ​​the map data; The processing device creates the route by combining roads having widths equal to or smaller than the width of the agricultural machine.

2. A map creation system, The map creation system includes: a storage device that stores map data for an autonomously driven agricultural machine; a processing device that, when road data is not included in a predetermined area indicated by the map data, creates road data for the predetermined area based on a trajectory of a vehicle equipped with a GNSS receiver traveling in the predetermined area, the trajectory being acquired based on GNSS data output from the GNSS receiver, and attribute information of the vehicle; Equipped with the processing device creates a route for an autonomously driven agricultural machine to travel outside a field using road data in the predetermined area of ​​the map data; A path planning system in which, when a work implement is attached to the agricultural machine, the processing device creates the path by combining roads having a width that is the same as or smaller than the width of the work implement.

3. The processing device includes:

3. The route planning system according to claim 1, wherein, when the attribute information of the vehicle includes information about the width of the vehicle, the width of the road in the predetermined area is set to be equal to or greater than the width of the vehicle.

4. The processing device includes:

3. The route planning system according to claim 1, wherein the attribute information of the vehicle includes information on the width of the vehicle and information on whether the vehicle is an agricultural machine equipped with a work implement, and when the vehicle is an agricultural machine equipped with a work implement, the width of the road in the specified area is set to be equal to or greater than the width of the work implement.

5. The processing device includes:

4. The route planning system according to claim 3, wherein the vehicle attribute information includes information as to whether the vehicle is an agricultural machine, and if the vehicle is an agricultural machine, the type of road in the specified area is set to a farm road.

6. The processing device includes:

3. The route planning system according to claim 1, wherein an orientation of the vehicle in the predetermined area, acquired based on at least a trajectory of the vehicle in the predetermined area, is set as an orientation of roads in the predetermined area.

7. The processing device includes: The roads in the predetermined area are associated with other roads in the map data. Item 3. A route planning system according to item 1 or 2.

8. The processing device includes:

3. A route planning system as described in claim 1 or 2, wherein, when road data is included in the specified area, the road data of the specified area is updated based on the trajectory of a vehicle equipped with a GNSS receiver traveling in the specified area, obtained based on GNSS data output from the GNSS receiver, and attribute information of the vehicle.

9. 9. The route planning system according to claim 8, wherein the processing device updates the width of the road in the specified area to the width of the vehicle when the attribute information of the vehicle includes the width of the vehicle and the width of the vehicle is greater than the width of the road in the specified area.

10. 9. The route planning system according to claim 8, wherein the processing device updates the width of the road in the specified area to the width of the work implement when the attribute information of the vehicle includes the type of the vehicle, the vehicle is an agricultural machine equipped with a work implement, and the width of the work implement is greater than the width of the road in the specified area.

11. The processing device includes: Further, a reception strength of a satellite signal by the GNSS receiver provided in the vehicle when the trajectory of the vehicle in the predetermined area is acquired; 3. The route planning system according to claim 1, wherein, when the reception strength is higher than a predetermined strength, road data for the predetermined area is created or updated in the map data.

12. The processing device includes: As the attribute information of the vehicle, information on the width of the vehicle, information on whether a work implement is attached to the vehicle, and, if a work implement is attached to the vehicle, information on the width of the work implement are acquired; If a work implement is attached to the vehicle, the width of the road in the predetermined area is set to be equal to or greater than the width of the work implement, 3. The route planning system according to claim 1, wherein, when the vehicle is not equipped with a work implement, the width of the road in the predetermined area is set to be equal to or greater than the width of the vehicle.

Images