Autonomous driving method, automatic driving system, and program

Abstract

To provide a technology to perform work on an outer peripheral side of a farm field by automatic travelling.SOLUTION: An exemplary automatic travelling method is an automatic travelling method of a work vehicle equipped with a travelling machine body and a work machine mounted on the travelling machine body. The automatic travelling method executes registration of a travelling permitting region for permitting travelling of the travelling machine body, selection of a work mode either to a first mode in which the inside of the travelling permitting region is a work object or to a second mode in which the outside is a work object, and prohibiting automatic travelling in which the work machine is positioned outside the travelling permitting region in the first mode, and permitting it in the second mode.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an automatic driving method, an automatic driving system, and a program. [Background technology]

[0002] In order for a work vehicle to travel autonomously within a field, the field area must be registered in advance. A conventional method is for an operator to operate the work vehicle along the perimeter of the field, and the field area is registered from the work vehicle's position information obtained during the operation. The registered field area is an area in which the work vehicle can travel safely, and can be used as a travel-permitted area.

[0003] Patent Document 1 discloses a configuration that, when an attempt is made to register an area outside the travel locus area that has actually been traveled as a travel-permitted area, a notification is issued to prevent the generation of a travel route outside the travel locus area. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-163922 Summary of the Invention [Problem to be solved by the invention]

[0005] In farm fields, there are cases where work is carried out by placing a work machine outside the permitted travel area. Examples of such work include ridge painting and weeding. It would be convenient if such work could also be carried out by automatic travel.

[0006] In view of the above, an object of the present invention is to provide a technology that enables work on the outer periphery of a field to be performed by automatic travel. [Means for solving the problem]

[0007] An exemplary automated driving method of the present invention is an automated driving method for a work vehicle including a traveling machine body and a work implement attached to the traveling machine body. The automated driving method executes the following steps: registering a travel-allowed area in which the traveling machine body is permitted to travel; selecting a work mode from a first mode in which work targets are located inside the travel-allowed area and a second mode in which work targets are located outside the travel-allowed area; and prohibiting automated driving in the first mode when the work implement is located outside the travel-allowed area and permitting it in the second mode.

[0008] An exemplary automated driving system of the present invention includes a work vehicle having a traveling machine body and a work implement attached to the traveling machine body, and a control device that controls the automated driving of the work vehicle. The control device executes the following operations: registering a travel-allowed area in which the traveling machine body is permitted to travel; selecting a work mode from a first mode in which work targets areas inside the travel-allowed area; and selecting a second mode in which work targets areas outside the travel-allowed area; and prohibiting automated driving when the work implement is located outside the travel-allowed area in the first mode and permitting it in the second mode.

[0009] An exemplary program of the present invention is a program that causes a computer to execute an automatic driving method for a work vehicle that includes a traveling body and a work implement attached to the traveling body. The program causes the computer to function as a means for registering a travel-allowed area in which the traveling body is allowed to travel, selecting a work mode from a first mode in which work targets areas inside the travel-allowed area and a second mode in which work targets areas outside the travel-allowed area, and prohibiting automatic driving in the first mode when the work implement is located outside the travel-allowed area and permitting it in the second mode. [Effects of the Invention]

[0010] According to an exemplary embodiment of the present invention, work on the outer periphery of a field can be carried out by automatic travel. [Brief explanation of the drawings]

[0011] [Figure 1]A diagram showing the general configuration of an automated driving system [Figure 2] FIG. 1 is a side view showing a schematic configuration of a work vehicle; [Figure 3] FIG. 1 is a schematic diagram illustrating a work machine provided on a work vehicle; [Figure 4] A block diagram showing the general configuration of a control device [Figure 5] Flowchart showing the flow of the automated driving method [Figure 6] FIG. 10 is a schematic diagram illustrating the registration of work machine information for an offset work machine; [Figure 7] Diagram for explaining permitted work area [Figure 8] FIG. 10 is a diagram illustrating an example of setting a first working area. [Figure 9] FIG. 10 is a diagram illustrating an example of generating a first work path. [Figure 10] A schematic diagram showing the state immediately before the work vehicle starts autonomous driving along the first work route. [Figure 11] A schematic diagram showing the state in which the work vehicle has automatically traveled only along the first work route and arrived at the end point. [Figure 12A] A diagram for explaining a reversal path [Figure 12B] A diagram for explaining a reversal path [Figure 12C] A diagram for explaining a reversal path [Figure 13] FIG. 10 is a diagram illustrating generation of a second work path. DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or equivalent parts are designated by the same reference symbols, and unless particularly necessary, their description will not be repeated. In addition, in this specification, directions are defined as follows. First, the direction in which a work vehicle travels straight is defined as the front-rear direction, and front and rear are defined as the front side relative to the driver's seat of the work vehicle, with the steering wheel being the front side. Furthermore, the right side as seen from the driver sitting in the driver's seat facing forward is defined as the right, and the left side is defined as the left, and a left-right direction perpendicular to the front-rear direction is defined. Furthermore, the direction perpendicular to the front-rear direction and the left-right direction is defined as the up-down direction, and the direction of gravity is defined as down, with the opposite side as up. The above directions are names used merely for the purpose of explanation and are not intended to limit the actual positional relationships and directions.

[0013] <1. Overview of the Autonomous Driving System> 1 is a diagram showing a schematic configuration of an automated driving system 100 according to an embodiment of the present invention. As shown in FIG. 1, the automated driving system 100 includes a work vehicle 1 and a control device 2.

[0014] [1-1. Work vehicles] FIG. 2 is a side view showing the general configuration of a work vehicle 1 according to an embodiment of the present invention. The work vehicle 1 of this embodiment is a field work vehicle that performs work while traveling in a field 200. The work vehicle 1 comprises a traveling machine body 11 and a work implement 12. The traveling machine body 11 travels in the field 200. The work implement 12 is attached to the traveling machine body 11. In this embodiment, the work implement 12 is attached to the rear of the traveling machine body 11. Specifically, the work vehicle 1 is a tractor that tows the work implement 12 with the traveling machine body 11. However, the work implement 12 may also be attached to the front of the traveling machine body 11. In other words, the work vehicle of the present invention may be configured so that the work implement 12 is attached to the front of the traveling machine body 11.

[0015] The traveling machine body 11 includes a machine body section 13 and a pair of traveling units 14 that support the machine body section 13 and are arranged spaced apart in the left-right direction. Each traveling unit 14 includes a front wheel 14a and a rear wheel 14b. At least one of the front wheel 14a and the rear wheel 14b is provided so as to be able to transmit driving force from an engine 15 arranged in front of the machine body section 13. The transmission of the driving force from the engine 15 to the traveling units 14 enables the traveling machine body 11 to travel in the field 200. The machine body section 13 includes a driver's section 16 in which a driver sits. The driver's section 16 includes a driver's seat 16a for the driver to sit in, a steering wheel 16b for steering the traveling machine body 11, and an operating unit (not shown) for the driver to perform various operations. The steering wheel 16b is arranged in front of the driver's seat 16a.

[0016] The work implement 12 is connected to the rear of the machine body 13 via a connecting mechanism 17. A PTO shaft (power take-off shaft) 18 is disposed at the rear of the machine body 13 for outputting the driving force of the engine 15 to the work implement 12. The driving force of the engine 15 is transmitted to the PTO shaft 18 via a transmission 19.

[0017] The work vehicle 1 of this embodiment is provided with multiple types of work implements 12 that can be interchangeably attached. The multiple types of work implements 12 may include, for example, at least one of a tilling implement, a plow, a fertilizer applicator, a pesticide sprayer, a harvester, and a reaper. In this embodiment, the multiple types of work implements 12 include a work implement that is attached while being offset to the left or right relative to the traveling body 11. Such a work implement 12 will be referred to below as an offset work implement 12A. The offset work implement 12A may be, for example, a ridge application implement that enables ridge application work, or a mower (offset mower) that enables grass cutting work.

[0018] Figure 3 is a schematic diagram for explaining the offset work implement 12A. Figure 3 is a plan view of the work vehicle 1 viewed from above. In Figure 3, the work vehicle 1 is moving straight forward. As shown in Figure 3, by attaching the offset work implement 12A, the work vehicle 1 can perform traveling work on the outer edge 201 of the field 200. In Figure 3, within the outer edge 201 of the field 200, the hatched area 201a indicates a worked area, and the white area 201b indicates an unworked area.

[0019] The work vehicle 1 is equipped with an offset direction of the offset work implement 12A that can be switched. In the example shown in Fig. 3, the outer edge 201 to be worked on is located on the right side of the work vehicle 1, so the offset work implement 12A is offset to the right relative to the traveling machine body 11. If the outer edge 201 to be worked on is located on the left side of the work vehicle 1, the offset work implement 12A is offset to the left relative to the traveling machine body 11. Note that the offset work implement 12A that is offset to the right will have at least a portion protruding to the right relative to the traveling machine body 11. The offset work implement 12A that is offset to the left will have at least a portion protruding to the left relative to the traveling machine body 11.

[0020] In this embodiment, the work vehicle 1 can automatically switch the left and right offset direction of the offset work implement 12A. For example, the offset direction of the offset work implement 12A may be configured to be automatically switched in response to an instruction from an operator. The instruction from the operator may be given, for example, using an operation button (not shown) provided on the driver's unit 16 of the work vehicle 1 or a mobile communication terminal (not shown) that the operator can carry. Furthermore, the offset direction of the offset work implement 12A may be configured to be automatically switched in response to a command from a control device that is configured to be able to control the operation of the offset work implement 12A. The control device referred to here may be, for example, the control device 2 shown in FIG. 1.

[0021] The offset direction of the offset working unit 12A may be switched, for example, by a mechanism that slides the position of the offset working unit 12A left and right. Alternatively, the offset direction of the offset working unit 12A may be switched, for example, by a mechanism that rotates the offset working unit 12A. Alternatively, the offset direction of the offset working unit 12A may be switched, for example, by a combination of sliding movement and rotation.

[0022] The offset work implement 12A may be configured to be usable by causing the work vehicle 1 to travel in at least one of forward and reverse directions before and after the offset direction is switched. For example, the offset work implement 12A may be configured to be usable in both forward and reverse travel of the work vehicle 1, regardless of the offset direction. The offset work implement 12A may also be configured to be usable by keeping the forward and reverse travel directions of the work vehicle 1 the same before and after the offset direction is switched. The offset work implement 12A may also be configured to be usable by switching the forward and reverse travel directions of the work vehicle 1 before and after the offset direction is switched. To give a specific example, the offset work implement 12A may be configured to be able to perform travel work by causing the work vehicle 1 to travel forward both before and after the offset direction is switched. Furthermore, for example, the offset work implement 12A may be configured to be able to perform travel work by switching the forward and reverse travel of the work vehicle 1 before and after the offset direction is switched.

[0023] [1-2. Control device] FIG. 4 is a block diagram showing a schematic configuration of a control device 2 according to an embodiment of the present invention. The control device 2 is, for example, a computer including an arithmetic unit, an input / output unit, and a storage unit 21. The arithmetic unit is, for example, an integrated circuit such as a processor or a microprocessor. The storage unit 21 is a main storage device such as a read-only memory (ROM) and a random access memory (RAM). The storage unit 21 may further include an auxiliary storage device such as an HDD (hard disk drive) or an SSD (solid state drive). Various programs, data, etc. are stored in the storage unit 21. The arithmetic unit reads out and executes the various programs from the storage unit 21.

[0024] In this embodiment, the above hardware and software work together to allow the control device 2 to operate as various functional units. As shown in Fig. 4, the various functional units include a field registration processing unit 22, a work mode selection unit 23, a work implement information registration processing unit 24, an area setting unit 25, a route generation unit 26, an automatic driving control unit 27, and a display control unit 28. The control device 2 may be configured as a single piece of hardware, or may be configured as multiple pieces of hardware that can communicate with each other.

[0025] The functional units 22 to 28 included in the control device 2 may be realized by causing a calculation unit to execute a program, i.e., by software, as described above, but may also be realized by other methods. The functional units 22 to 28 may be realized, for example, by using an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). That is, the functional units 22 to 28 may be realized by hardware using a dedicated IC or the like. The functional units 22 to 28 may also be realized by a combination of software and hardware. The functional units 22 to 28 are conceptual components. The function performed by one component may be distributed among multiple components. The functions of multiple components may also be integrated into one component.

[0026] The control device 2 may be mounted on the work vehicle 1, for example. Also, for example, the control device 2 may be mounted on a mobile communication terminal (not shown) that is provided so as to be able to communicate with the work vehicle 1. The mobile communication terminal may be, for example, a tablet terminal, a smartphone, a laptop computer, a remote controller, etc. Also, for example, the control device 2 may be composed of a control device that is mounted on the work vehicle 1 and a control device that is mounted on the mobile communication terminal. Also, for example, at least some of the functions provided by the control device 2 may be implemented by a server that is provided so as to be able to communicate with the work vehicle 1 and the mobile communication terminal via a network such as the Internet. Also, for example, some of the information stored in the memory unit 21 may be stored in the server.

[0027] 4 shows not only the control device 2 but also elements 3 to 6 that are directly or indirectly connected to the control device 2. These elements 3 to 6 may be connected to the control device 2, for example, by wire or wirelessly. Furthermore, for example, these elements 3 to 6 may be connected by wire or wirelessly to a device that can communicate with the control device 2, and may be indirectly connected to the control device 2 via that device.

[0028] The positioning communication unit 3 is provided on the work vehicle 1. The positioning communication unit 3 includes a positioning antenna (not shown), and acquires the position of the work vehicle 1 as, for example, latitude and longitude information using a positioning signal received by the positioning antenna from a positioning satellite. The positioning communication unit 3 outputs the position information of the work vehicle 1 to the control device 2. For example, the positioning communication unit 3 may receive a positioning signal from a reference station (not shown) using an appropriate method, and then perform positioning using the well-known RTK-GNSS (Real Time Kinematic GNSS) method. Furthermore, for example, the positioning communication unit 3 may perform positioning using the DGNSS (Differential GNSS) method.

[0029] The sensor 4 is mounted on the work vehicle 1. The sensor 4 detects information related to the work vehicle 1 and outputs the detected information to the control device 2. It is preferable that the work vehicle 1 be equipped with multiple types of sensors 4. In this case, each of the multiple types of sensors 4 may output detected information to the control device 2. The multiple types of sensors may include, for example, an inertial measurement unit, an obstacle sensor, etc.

[0030] The inertial measurement unit may be a device that includes a three-axis angular velocity sensor and a three-directional acceleration sensor and is capable of measuring the attitude of the work vehicle 1. The obstacle sensor is a sensor that detects obstacles that exist around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, a radar, or a LiDAR (Light Detection and Ranging).

[0031] The operation unit 5 enables an operator to give commands to the control device 2. The operator may be a person riding in the work vehicle 1 or a person not riding in the work vehicle 1. The operation unit 5 may be provided, for example, on at least one of the work vehicle 1 and the mobile communication terminal. The operation unit 5 may be, for example, a button, a lever, a dial, or a touch panel. The operation unit 5 may not be a hardware switch, but may be a software switch.

[0032] The display unit 6 displays information as appropriate in response to commands from the control device 2. The display unit 6 may be, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The display unit 6 may be configured to have a touch panel, in which case the display unit 6 may also serve as the operation unit 5. The display unit 6 may be provided, for example, in at least one of the work vehicle 1 and the mobile communication terminal.

[0033] The field registration processing unit 22 performs the registration process of the field 200 in response to, for example, an instruction from an operator using the operation unit 5. By the registration process of the field 200, information such as the shape of the field 200 is stored in the storage unit 21. Note that the functions of the field registration processing unit 22 may include editing and deleting information about the registered field.

[0034] When registering the field 200, for example, an operator manually drives the work vehicle 1 along the periphery of the field 200, such as along the ridges. The shape of the field 200 is identified from the travel trajectory of the work vehicle 1 obtained using the positioning communication unit 3 during this travel. The inside of the identified shape of the field 200 is the field area. In this embodiment, the field area is the travel-permitted area. The travel-permitted area is an area that is determined to be safe for the traveling machine body 11 to travel in, and is an area in which the traveling machine body 11 is permitted to travel. In this embodiment, the field registration process by the field registration processing unit 22 includes registering this travel-permitted area.

[0035] The work mode selection unit 23 selects a work mode. The work mode is selected, for example, by a command from an operator using the operation unit 5. However, the control device 2 may be configured to select the work mode automatically. In this embodiment, the work modes include a first mode and a second mode. The first mode is a work mode in which the work object is an area inside the permitted travel area. The second mode is a work mode in which the work object is an area outside the permitted travel area.

[0036] In this embodiment, in the first mode, only the inside of the travel-allowed area is the work target, while in the second mode, only the outside of the travel-allowed area may be the work target, or a part of the travel-allowed area adjacent to the travel-allowed area may be the work target in addition to the outside of the travel-allowed area.

[0037] The work machine information registration processing unit 24 performs a process to register information about the work machine 12 to be used when performing work by autonomous traveling. Through this process, the work machine information is stored in the memory unit 21. For example, the work machine information registration processing unit 24 requests the operator to input information about the work machine 12. The request to input information may be made, for example, using the display unit 6. Then, the work machine information registration processing unit 24 registers the information about the work machine 12 input by the operator using the operation unit 5 or the like. The information about the work machine 12 may include, for example, the size, shape, and mounting position of the work machine 12 relative to the traveling body 11 of the work machine 12.

[0038] The area setting unit 25 sets the working area. The working area is an area where work is performed by the work implement 12. In this embodiment, in the first mode, the working area is set inside the travel-permitted area. In the second mode, the working area is set outside the travel-permitted area. Note that the working area set in the second mode may extend from outside the travel-permitted area to inside the travel-permitted area.

[0039] The route generation unit 26 generates an automatic driving route for automatically driving the work vehicle 1 in the field 200. The method of generating the automatic driving route may differ between the first mode and the second mode. Note that automatic driving means that the driving-related devices equipped in the work vehicle 1 are controlled by the control device 2, and at least steering is performed autonomously so as to follow a predetermined route. In addition to steering, automatic driving may also be configured so that at least one of the vehicle speed and the work performed by the work implement 12 is performed autonomously. Furthermore, automatic driving may include both cases where a person is on board the work vehicle 1 and cases where no person is on board the work vehicle 1.

[0040] For example, the autonomous driving may be autonomous straight-line driving in which only the control of steering operation (operation of the steering wheel) is performed automatically. In autonomous straight-line driving, for example, the control of vehicle speed, the control of lifting and lowering of the work implement 12, and the control of turning the operation of the work implement 12 are performed manually. Furthermore, for example, the autonomous driving may be manned autonomous driving in which work by straight-line driving and turning are performed automatically with a driver in the driver's section of the work vehicle 1. In manned autonomous driving, for example, the control of vehicle speed and the control of lifting and lowering of the work implement 12 can be switched between automatic and manual. Furthermore, for example, the autonomous driving may be unmanned autonomous driving (robot driving) in which all operations are performed automatically without a driver in the driver's section of the work vehicle 1.

[0041] Furthermore, in automated driving, for example, the road surface condition may differ from the expected one or the tire size may be inappropriate, resulting in the preset automated driving route becoming inappropriate. Furthermore, for example, the vehicle position information obtained by positioning may become inappropriate, resulting in deviation from the automated driving route. Taking such points into consideration, the automated driving route may be appropriately corrected by a command from an operator or a command from the control device 2 using a feedback control function. The route generation unit 26 may be provided with such an automated driving route correction function.

[0042] The automatic driving control unit 27 automatically controls at least a part of the driving system of the work vehicle 1 when automatic driving is selected, for example, by a command from the operation unit 5. For example, if the automatic driving mode is an automatic straight-ahead driving mode, the automatic driving control unit 27 automatically controls the steering operation so that the work vehicle 1 drives along a predetermined route. For example, if the automatic driving mode is a manned automatic driving mode or an unmanned automatic driving mode, the automatic driving control unit 27 automatically controls the steering operation and the adjustment of the vehicle speed. Furthermore, in the manned automatic driving mode or the unmanned automatic driving mode, the automatic driving control unit 27 automatically controls the lifting and lowering of the work implement 12.

[0043] The display control unit 28 controls the display unit 6 to appropriately display information about the work vehicle 1 on the display unit 6 for an operator on board the work vehicle 1 or an operator operating the work vehicle 1 from outside.

[0044] <2. Automatic driving method> Next, an automatic traveling method executed by the automatic traveling system 100 of this embodiment will be described. In detail, the automatic traveling method of this embodiment is an automatic traveling method for a work vehicle 1 equipped with a traveling body 11 and a work implement 12, and is executed by a control device 2 (for example, a computer device). Figure 5 is a flowchart showing the flow of the automatic traveling method according to this embodiment of the present invention.

[0045] In step S1, the field registration processing unit 22 performs a process of registering the field area. As a result, the field area is recorded in the memory unit 21. As described above, in this embodiment, the field area is synonymous with the travel-permitted area. That is, the automatic traveling method of this embodiment executes the registration of the travel-permitted area in which the traveling machine body 11 is permitted to travel. In detail, the control device 2 executes this process. A program that causes a computer to execute the automatic traveling method of this embodiment causes the computer to function as a means for registering the travel-permitted area in which the traveling machine body 11 is permitted to travel.

[0046] The registration process of the field area (travel-permitted area) is carried out, for example, by the operator pressing a measurement start button that measures the travel trajectory of the work vehicle 1, and then having the operator travel the work vehicle 1 along the perimeter of the field. Note that instead of the operator pressing the measurement start button, the registration process of the field area may be automatically started when the control device 2 determines that predetermined conditions for starting measurement of the field area have been met. Once the registration process of the field area is complete, processing proceeds to the next step S2. Note that if the field area (travel-permitted area) has already been registered, the processing of step S1 may be skipped.

[0047] In step S2, the work mode selection unit 23 selects a work mode. In this embodiment, either a first mode, in which the work target is an area inside the travel-allowed area, or a second mode, in which the work target is an area outside the travel-allowed area, is selected. That is, the automated driving method of this embodiment executes the selection of either the first mode or the second mode as the work mode. In detail, the control device 2 executes this processing. A program that causes a computer to execute the automated driving method of this embodiment causes the computer to function as a means for selecting either the first mode or the second mode as the work mode.

[0048] In the first mode, work is mainly performed by a work machine 12 other than the offset work machine 12A, such as a tiller. However, work may also be performed using the offset work machine 12A in the first mode. In the second mode, work is performed by the offset work machine 12A. Selection of either the first mode or the second mode may be determined by an instruction from the operator, or may be determined automatically by the control device 2. For example, the control device 2 may be configured to automatically determine whether to use the first mode or the second mode depending on the type of work machine 12 attached to the traveling body 11. If the selected work mode is the first mode, processing proceeds to step S3. If the selected work mode is the second mode, processing proceeds to step S3A.

[0049] The processes of steps S3, S4, S5, and S6 that are performed when the first mode is selected are processes that are performed when a work area is set within the travel-permitted area and the work implement 12 performs work while automatically traveling through the work area. These processes may be similar to known processes, and will be described briefly.

[0050] In step S3, the work machine information registration processing unit 24 performs processing to register information about the work machine 12 to be used for work by automatic traveling in the first mode. The information about the work machine 12 may be configured to be input by the operator using the operation unit 5 in response to a request from the control device 2, for example. The information about the work machine 12 may include, for example, the distance from the center of the traveling body 11 in the left-right direction to one end of the work machine 12 in the left-right direction, the overall width of the work machine 12, the position of the work machine 12, etc. Once the processing of step S3 has been performed, the processing proceeds to the next step S4.

[0051] In this embodiment, the first mode or the second mode is selected before the work machine information is registered, but the first mode or the second mode may be selected during the work machine information registration process. Also, if the work machine information has already been registered, the process of step S3 may be skipped.

[0052] In step S4, the area setting unit 25 sets a work area (work area within the permitted area) within the previously registered travel-permitted area. The work area within the permitted area may be, for example, an area where the work vehicle 1 performs work using a work implement 12 such as a tiller while traveling straight ahead. A headland area may be provided inside the travel-permitted area but outside the work area within the permitted area. The headland area is an area where the work vehicle 1, which has traveled straight along a straight path within the work area within the permitted area, must turn to move to the next straight path within the work area within the permitted area. Turning may or may not be automatic. Once the work area within the permitted area has been set, processing proceeds to the next step, S5. If a work area within the permitted area has already been registered, processing in step S4 may be skipped.

[0053] In step S5, the route generation unit 26 generates an automatic driving route for automatically driving the work vehicle 1 in the work area within the permitted area. The automatic driving route is, for example, a straight route set in the work area within the permitted area. Once the automatic driving route has been generated, processing proceeds to the next step, S6. Note that if an automatic driving route has already been registered, the processing of step S5 may be skipped.

[0054] In step S6, the vehicle is automatically driven along the generated automatic driving route under the control of the automatic driving control unit 27. For example, the vehicle is automatically driven along a straight line set in the working area within the permitted area.

[0055] The automatic traveling method of this embodiment prohibits automatic traveling in a case where the work machine 12 is located outside the permitted traveling area in the first mode. In detail, this processing is executed by the control device 2. The program that causes a computer to execute the automatic traveling method of this embodiment causes the computer to function as a means for prohibiting automatic traveling in a case where the work machine 12 is located outside the permitted traveling area in the first mode.

[0056] The work machine 12 being located outside the travel-allowed area may mean that at least a portion of the work machine 12 is located outside the travel-allowed area. Prohibiting automatic traveling when the work machine 12 is located outside the travel-allowed area may mean stopping automatic traveling when it is determined that the work machine 12 is located outside the travel-allowed area during automatic traveling. Stopping automatic traveling may include, for example, stopping traveling and switching from automatic traveling to manual traveling. Prohibiting automatic traveling when the work machine 12 is located outside the travel-allowed area may mean, for example, not permitting the generation of an automatic traveling route that positions the work machine 12 outside the travel-allowed area before automatic traveling is performed.

[0057] Furthermore, the automatic traveling method of this embodiment prohibits automatic traveling in the first mode when the traveling machine body 11 is located outside the permitted traveling area. In detail, this processing is executed by the control device 2. The program that causes a computer to execute the automatic traveling method of this embodiment causes the computer to function as a means for prohibiting automatic traveling in the first mode when the traveling machine body 11 is located outside the permitted traveling area.

[0058] Prohibiting automatic driving in which the traveling machine body 11 is located outside the travel-allowed area may mean stopping automatic driving when it is determined that the traveling machine body 11 is located outside the travel-allowed area during automatic driving. Stopping automatic driving may include, for example, stopping driving and transitioning from automatic driving to manual driving. Furthermore, prohibiting automatic driving in which the traveling machine body 11 is located outside the travel-allowed area may mean, for example, not permitting the generation of an automatic driving route in which the traveling machine body 11 is located outside the travel-allowed area at a stage where automatic driving has not yet been performed.

[0059] Next, we will explain the processing of steps S3A, S4A, S5A, and S6A that are performed when the second mode is selected. These processing are performed when the offset work implement 12A is attached to the traveling machine body 11 and work is performed on the outer edge of the field.

[0060] In step S3A, the work machine information registration processing unit 24 performs a process to register information about the work machine (i.e., the offset work machine 12A) to be used for work by automatic traveling in the second mode. The information about the offset work machine 12A may be configured to be input by the operator using the operation unit 5 in response to a request from the control device 2, for example.

[0061] FIG. 6 is a schematic diagram for explaining the registration of work machine information for the offset work machine 12A. The dashed line BL in FIG. 6 indicates the left-right center position of the traveling machine body 11. The registered information for the offset work machine 12A may include the first lateral distance W1, second lateral distance W2, third lateral distance W3, and first vertical distance L1 shown in FIG. 6. The first lateral distance W1 is the distance between the left-right center of the traveling machine body 11 and the inner left-right end of the offset work machine 12A. The second lateral distance W2 is the left-right width of the offset work machine 12A. The third lateral distance W3 is the distance between the left-right center of the traveling machine body 11 and the outer left-right end of the offset work machine 12A. For example, since the third lateral distance W3 is obtained by adding the first lateral distance W1 and the second lateral distance W2 (W3 = W1 + W2), the third lateral distance W3 does not need to be input as long as the first lateral distance W1 and the second lateral distance W2 are input. The first vertical distance L1 is the distance between the rear end of the traveling body 11 and the rear end of the offset work implement 12A. Note that, as described above, the offset work implement 12A may be attached to the front of the traveling body 11, in which case the first vertical distance L1 is the distance between the front end of the traveling body 11 and the front end of the offset work implement 12A.

[0062] Furthermore, if the dimensions of the traveling body 11 have not been registered in advance, the dimensions of the traveling body 11 may also be registered together with the registration of the information of the offset work machine 12A. The registered dimensions of the traveling body 11 may include, for example, the distance between the center position in the left-right direction of the traveling body 11 and one end in the left-right direction (body half width Wa). The registered dimensions of the traveling body 11 may also include, for example, the length of the traveling body 11 in the front-to-rear direction (body length La).

[0063] The registered information of the offset work machine 12A may include, for example, information regarding whether the offset direction has been switched. Also, for example, if there is a change in the registered information due to a switch in the offset direction, the registered information of the offset work machine 12A may include information regarding the change.

[0064] 5, when the process of registering the information of the offset work machine 12A is completed, the process proceeds to the next step S4A. Note that if the information of the offset work machine 12A has already been registered, the process of step S3A may be skipped.

[0065] In step S4A, the area setting unit 25 first sets the work allowed area 220. FIG. 7 is a diagram for explaining the work allowed area 220. The work allowed area 220 is an area through which the offset work machine 12A is permitted to pass. The automatic traveling method of this embodiment executes setting the work allowed area 220 having an outer periphery outside the travel allowed area 210 based on information about the travel allowed area 210 and information about the work machine 12.

[0066] In detail, the information on the travel allowed area 210 is the outer periphery position of the travel allowed area 210. The information on the work implement 12 is information on the offset work implement 12A, and is the amount of protrusion (protrusion distance) Wx of the offset work implement 12A from the side of the traveling body 11. The protrusion distance Wx is obtained by subtracting the body half width Wa from the third lateral distance W3 shown in FIG. 6 (Wx = W3 - Wa). The area setting unit 25 sets the outer periphery position of the travel allowed area 210 as a position obtained by expanding the outer periphery position of the travel allowed area 210 outward by the protrusion distance Wx. The area inside this outer periphery position corresponds to the work allowed area 220. The work allowed area 220 is an area that includes the travel allowed area 210.

[0067] In the second mode, automatic traveling is permitted when the work implement 12 (specifically, the offset work implement 12A) is located within the work permitted area 220. Conversely, automatic traveling is prohibited when the offset work implement 12A is located outside the work permitted area 220. In other words, even in the second mode, there are cases where automatic traveling is prohibited depending on the position of the work implement 12, and the safety of automatic traveling can be ensured. Note that in this embodiment, a state in which the offset work implement 12A is located outside the work permitted area 220 corresponds to a state in which the traveling machine body 11 is located outside the travel permitted area 210.

[0068] When the area setting unit 25 sets the work allowed area 220, it sets a work area included in the work allowed area 220. This work area corresponds to the first work area of ​​the present invention. That is, the automated traveling method of this embodiment executes the setting of a first work area in the work allowed area 220 where work is to be performed by the work implement 12 (more specifically, the offset work implement 12A).

[0069] An example of setting the first working area 230 will be described with reference to FIG. 8. FIG. 8 is a diagram for explaining an example of setting the first working area 230. In FIG. 8, the dashed-dotted line DL indicates a part of the periphery of the travel-allowed area 210. Furthermore, the dashed-two-dotted line DDL indicates a part of the periphery of the work-allowed area 220. FIG. 8 shows a method for setting the first working area 230 for one side of the travel-allowed area 210. The first working area 230 is set for each side that constitutes the periphery of the travel-allowed area 210.

[0070] The area setting unit 25 first sets a fourth lateral distance W4, which is the distance between one side of the travel allowed area 210 and the inner edge of the offset work implement 12A in the left-right direction. The fourth lateral distance W4 is set based on instructions from the operator or the judgment of the control device 2. By setting the fourth lateral distance W4, the position where work is to be performed by the offset work implement 12A is identified using the outer periphery of the travel allowed area 210 as a reference.

[0071] The inner edge position in the left-right direction of the offset work implement 12A may be set on the outer periphery of the travel allowed area 210. In this case, the fourth lateral distance W4 is zero. An example of such a case is when the offset work implement 12A is used as a ridger and forms a ridge adjacent to the outer periphery of the travel allowed area 210.

[0072] Furthermore, the inner edge position in the left-right direction of the offset work implement 12A may be set outside the outer periphery of the travel allowed area 210. In this case, the fourth lateral distance W4 may be set to a positive value for convenience. An example of such a case is when a brush cutter is used as the offset work implement 12A to cut weeds that are located away from the outer periphery of the travel allowed area 210. An example of a case where weeds are located away from the outer periphery of the travel allowed area 210 is when a ditch is located adjacent to the outside of the outer periphery of the travel allowed area 210. Ditch information (e.g., ditch width) may be registered in advance in the storage unit 21, and the fourth lateral distance W4 may be automatically set using the ditch information.

[0073] Furthermore, the inner edge position in the left-right direction of the offset work implement 12A may be set inside the outer periphery of the travel allowed area 210. In this case, the fourth lateral distance W4 may be set to a negative value for convenience. In such a configuration, part of the first working area 230 is set within the travel allowed area 210. With this configuration, when performing grass cutting work using a grass cutter as the offset work implement 12A, grass can be cut evenly on both the inside and outside of the outer periphery of the travel allowed area 210.

[0074] After setting the fourth lateral distance W4, the area setting unit 25 sets a first straight line Li1 that is parallel to one side of the travel allowed area 210 and passes through a position that is the fourth lateral distance W4 away from the side in the left-right direction. The area setting unit 25 also sets a second straight line Li2 that is parallel to the first straight line Li1 and passes through a position that is the second lateral distance W2 (see FIG. 6) away from the first straight line Li1 outward in the left-right direction. A strip-shaped area sandwiched between the first straight line Li1 and the second straight line Li2 may be the first working area 230 that is set on one side of the travel allowed area 210. However, in this example, the area setting unit 25 further sets a third straight line Li3 and a fourth straight line Li4 to set the first working area 230.

[0075] The third line Li3 is a line that is perpendicular to one side of the travel-allowed area 210 and passes through a position that is the first vertical distance L1 away in a direction extending from one end of that side. The fourth line Li4 is a line that is perpendicular to one side of the travel-allowed area 210 and passes through a position that is the first vertical distance L1 away in a direction extending from the other end of that side. The area setting unit 25 sets the area surrounded by the first line Li1, the second line Li2, the third line Li3, and the fourth line Li4 as the first working area 230.

[0076] The setting of the first working area 230 is completed by performing the above setting process for each side of the travel-allowed area 210. Note that, although the first working area 230 is set for all sides of the travel-allowed area 210 here, the first working area 230 may be set for only some of the sides. Furthermore, multiple first working areas 230 may be set for each side of the travel-allowed area 210. When multiple first working areas 230 are set, it is assumed that the automated driving operation along each side is performed multiple times while shifting the location. Furthermore, the first working areas 230 set for each side may be deleted as appropriate. When the setting of the first working area 230 is completed, the process proceeds to the next step S5A (see FIG. 5). Note that, if the first working area 230 has already been registered, the process of step S4A may be skipped.

[0077] In step S5A, the path generation unit 26 generates an automatic travel path that enables the offset work implement 12A to work in the first work area 230. This automatic travel path is generated in the travel allowed area 210 and corresponds to the first work path of the present invention. That is, the automatic travel method of this embodiment executes generation of a first work path 30 that enables the work implement 12 to work in the first work area 230 in the travel allowed area 210. According to this, a work path is generated for when the work implement 12 works outside the travel allowed area 210, in addition to a work path for when the work implement 12 works within the travel allowed area 210. Therefore, an appropriate work path can be generated depending on the type of work implement 12, allowing the work implement 12 to work accurately.

[0078] FIG. 9 is a diagram for explaining an example of generating the first work path 30. As shown in FIG. 9, the first work path 30 (shown by a thick solid line) is generated corresponding to the first work area 230 provided on each side of the travel allowed area 210. The first work paths 30 provided corresponding to each first work area 230 extend in a direction along each side of the travel allowed area 210. Each first work path 30 is set within the travel allowed area 210. Each first work path 30 is set at a position that passes through the center of the traveling machine body 11 in the left-right direction. Each first work path 30 is set at a position that is a predetermined distance inward from each side of the travel allowed area 210. The position that is a predetermined distance away is, in detail, a position that is a distance inward from each side that is obtained by subtracting the fourth lateral distance W4 from the first lateral distance W1.

[0079] Once the setting of the first work path 30 is complete, processing proceeds to the next step S6A (see FIG. 5). In this example, the first work path 30 is set to correspond to all sides of the travel allowed area 210. However, as described above, the first work area 230 may be set for only some of the sides of the travel allowed area 210. For this reason, the first work path 30 may also be set for only some of the sides of the travel allowed area 210. Furthermore, if there are multiple first work areas 230 set for each side of the travel allowed area 210, there may also be multiple first work paths 30 set for each side of the travel allowed area 210. Furthermore, if the first work path 30 has already been registered, the processing of step S5A may be skipped.

[0080] In step S6A, automatic traveling is performed along each of the generated first work routes 30 under the control of the automatic traveling control unit 27. As can be seen from the above, the automatic traveling method of this embodiment executes the step of permitting automatic traveling in the second mode when the work machine 12 is located outside the travel-permitted area 210. In detail, the control device 2 executes this processing. The program that causes a computer to execute the automatic traveling method of this embodiment causes the computer to function as a means for permitting automatic traveling in the second mode when the work machine 12 is located outside the travel-permitted area 210.

[0081] In this embodiment, in a first mode in which the work area is set inside the travel-permitted area 210, automatic traveling is prohibited when the work machine 12 is located outside the travel-permitted area 210. On the other hand, in a second mode in which the work area is set outside the travel-permitted area 210, automatic traveling is exceptionally permitted when the work machine 12 is located outside the travel-permitted area 210. Application of exceptions in the second mode widens the scope of application of automatic traveling work, and can improve work efficiency.

[0082] Then, in the second mode as well as in the first mode, the automatic traveling method of this embodiment prohibits automatic traveling when the traveling machine body 11 is located outside the travel-permitted area 210. For this reason, while placing greater emphasis on safety in the first mode, exceptions are allowed in the second mode within the scope that does not impair safety, thereby improving work efficiency.

[0083] The start position of automatic travel along each first work path 30, which is a straight path, may be, for example, a position where the rear end of the traveling machine body 11 touches the outer periphery of the allowed travel area 210. The end position of automatic travel along each first work path 30 may be a position where the front end of the traveling machine body 11 touches the outer periphery of the allowed travel area 210. The start position and end position may be changed as appropriate, and may be a position where the traveling machine body 11 does not touch the outer periphery of the allowed travel area 210.

[0084] Furthermore, the position of the traveling machine body 11 during automatic traveling that has begun assuming that it will travel along the first work path 30 may be offset relative to the first work path 30 within the range of the travel-allowed area 210. In other words, the first work path 30 may be offset within the range of the travel-allowed area 210. This makes it possible to adjust the path for performing automatic traveling work to an appropriate position, for example, in cases where the setting of the fourth lateral distance W4 (see FIG. 8, etc.) is inappropriate. Offset adjustment may be performed, for example, by providing an operation unit for offset adjustment, and the operator may use this operation unit to perform the offset adjustment as appropriate during automatic traveling. Furthermore, when offsetting is performed, the work path after offsetting may be registered in the memory unit 21 as the correct work path.

[0085] Furthermore, the traveling machine body 11 may travel along a route that reverses its front-to-rear orientation during automatic travel along each first work route 30. That is, the automatic travel method of this embodiment may reverse the orientation of the traveling machine body 11 during automatic travel of the traveling machine body 11 along the first work route 30.

[0086] The reason for reversing the front-to-rear orientation of the traveling vehicle body 11 will now be explained with reference to FIGS. 10 and 11. FIG. 10 is a schematic diagram showing the state immediately before the work vehicle 1 starts automatic travel along the first work path 30. FIG. 11 is a schematic diagram showing the state in which the work vehicle 1 has performed automatic travel only along the first work path 30 shown in the figure and arrived at the end position. In FIGS. 10 and 11, the hatched area of ​​the first work area 230 is the completed area 230a, and the white area is the uncompleted area 230b. As can be seen from FIGS. 10 and 11, in a configuration in which the traveling vehicle body 11 of the work vehicle 1 performs work by automatically traveling only along the first work path 30, work by the offset work implement 12A is not performed for at least the length of the traveling vehicle body 11. This problem can be resolved by reversing the front-to-rear orientation of the traveling vehicle body 11.

[0087] Here, an example of a reversing path that reverses the front-to-rear direction of the traveling machine body 11 is shown. Figs. 12A to 12C are diagrams for explaining the reversing path 31. As shown in Figs. 12A to 12C, the reversing path 31 is made up of a first turning path 31a, a second turning path 31b, and a position adjustment path 31c. Figs. 12A, 12B, and 12C are arranged in chronological order. Furthermore, the traveling machine body 11 travels forward along the first working path 30 until just before traveling along the reversing path 31.

[0088] In this example, as shown in FIG. 12A, the first turning path 31a is a path along which the traveling machine body 11 on the first work path 30 turns backward in a direction away from the work target edge 210a (to the left in this example). The work target edge is the edge 210a, which is the edge of the periphery of the travel-allowed area 210, close to which the traveling machine body 11 performing automatic travel travels. The radius of the backward turning may be any radius around which the traveling machine body 11 can turn. The radius of the backward turning may be configured to be set in advance by an operator, or may be configured to be automatically set by the control device 2, for example. The first turning path 31a is a path from the start position of the reversing path 31 to a position where the traveling machine body 11 directly faces the work target edge 210a.

[0089] In this example, as shown in FIG. 12B, the second turning path 31b is a path that approaches the work target edge 210a while turning forward in a circular arc that is opposite to the first turning path 31a. The first turning path 31a and the second turning path 31b have the same turning radius. In the example shown in FIG. 12B, the second turning path 31b is a path that turns the traveling machine body 11, which is located at the end position of the first turning path 31a, to the right while moving forward. The second turning path 31b is a path from the end position of the first turning path 31a to a position where the traveling machine body 11's front-to-rear direction is parallel to the work target edge 210a (which may also be referred to as the first work path 30). At the end position of the second turning path 31b, the front-to-rear direction of the traveling machine body 11 is opposite to that at the start position of the reversing path 31. In other words, the front-to-rear direction of the traveling machine body 11 is reversed. At the time when the reversal is performed, the traveling machine body 11 returns to the first working path 30.

[0090] In this example, as shown in FIG. 12C , the position where the traveling machine body 11 turns around and returns to the first work path 30 is a position where the traveling work has already been completed. For this reason, the reversal path 31 in this example includes a position adjustment path 31c that aligns the position of the offset work implement 12A with the boundary between the completed work area 230a and the unworked area 230b. On the position adjustment path 31c, the traveling machine body 11 is reversed along the first work path 30 so that the position of the offset work implement 12A matches the aforementioned boundary position. During this reverse movement, traveling work using the offset work implement 12A is not performed. After completing travel along the position adjustment path 31c, work by the offset work implement 12A is started, and the traveling machine body 11 is reversed along the first work path 30. This reverse movement may or may not be automatic. By performing work using the offset work implement 12A while reversely moving, it is possible to eliminate the occurrence of an unworked area equivalent to the length of the traveling machine body 11 described above.

[0091] Incidentally, in order to perform traveling work after the traveling machine body 11 has turned back and forth, it is necessary to reverse the offset direction of the work implement 12 before and after the vehicle turns back. In the example shown in Figures 12A to 12C, the offset direction of the offset work implement 12A is switched while the traveling machine body 11 is traveling on the first turning path 31a. However, the offset direction of the offset work implement 12A may be switched at another timing.

[0092] Additionally, the automated driving method of this embodiment may set a second working area 240 (see FIG. 13) in which work is performed by the work implement 12 within the travel-allowed area 210, and generate a second working path 40 (see FIG. 13) that enables work in the second working area 240 in the first mode following work in the second mode. This processing may be executed by the control device 2.

[0093] FIG. 13 is a diagram for explaining the generation of the second work path 40. When generating the second work path 40, a second work area 240 may be set first, in the same way that a first work area (shown by a dashed line in FIG. 13) was set before the generation of the first work path 30 (shown by a thick dashed line in FIG. 13). Then, similar to the generation of the first work path 30, the second work area 240 may be generated based on the set second work area 240 so that the offset work implement 12A performs work in the second work area 240. In the example shown in FIG. 13, it is assumed that work performed outside the travel allowed area 210 (e.g., mowing work) is extended to within the travel allowed area 210. The second work path 40 is set at a position shifted inward from the first work path 30, as indicated by the white arrow in FIG. 13. Work can be performed continuously from outside the travel allowed area 210 to inside the travel allowed area 210, improving work efficiency.

[0094] <3. Things to keep in mind> Various modifications can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, multiple embodiments and variations shown in this specification may be combined to the extent possible. Furthermore, the field shapes shown in the drawings are merely examples, and the field shapes may be modified as appropriate.

[0095] <4. Notes> An exemplary automatic driving method of the present invention may be an automatic driving method for a work vehicle comprising a traveling body and a work machine attached to the traveling body, and may be configured (first configuration) to execute the following: registering a travel-permitted area in which the traveling body is permitted to travel; selecting one of the work modes: a first mode in which work is performed inside the travel-permitted area, or a second mode in which work is performed outside the travel-permitted area; and prohibiting automatic driving in which the work machine is located outside the travel-permitted area in the first mode and permitting it in the second mode.

[0096] The automatic driving method of the first configuration above may be configured (second configuration) to prohibit automatic driving when the traveling vehicle is located outside the permitted driving area in both the first mode and the second mode.

[0097] The automatic driving method of the first or second configuration may be configured to set a work permitted area having an outer periphery outside the travel permitted area based on information on the travel permitted area and information on the work machine, and in the second mode, the automatic driving is permitted when the work machine is located within the work permitted area (third configuration).

[0098] The automatic traveling method of the third configuration above may be configured (fourth configuration) to set a first work area in the work permitted area where work is to be performed by the work machine, and generate a first work path in the travel permitted area that enables the work machine to work in the first work area.

[0099] In the automatic traveling method of the fourth configuration, the first work path may be configured to be offset within the range of the travel-permitted area (fifth configuration).

[0100] The automatic traveling method of the fourth or fifth configuration may be configured (sixth configuration) to reverse the orientation of the traveling body while the traveling body is automatically traveling along the first work path.

[0101] In the automatic traveling method according to any one of the fourth to sixth configurations, a configuration (seventh configuration) may be adopted in which a part of the first working area is set as the travel-permitted area.

[0102] An automatic driving method of any of the above fourth to seventh configurations may be configured (eighth configuration) to perform the following: setting a second work area in the travel-permitted area in which work is performed by the work machine; and generating a second work path that enables work in the second work area in the first mode following work in the second mode. [Explanation of symbols]

[0103] 1. Work vehicle 2. Control device 11. Running body 12. Work equipment 30. First working route 40...Second working path 210: Permitted driving area 220...Work permission area 230...1st work area 240...Second work area

Claims

1. A method for automatically traveling within a work permitted area of ​​a work vehicle including a traveling machine body and a work implement attached to the traveling machine body, Registering a travel permission area that is provided within the work permission area and that allows the traveling machine body to travel; selecting a work mode from a first mode in which the work target is an area inside the travel-allowed area and a second mode in which the work target is an area inside the work-allowed area but outside the travel-allowed area; Prohibiting automatic travel in which the work machine is located outside the travel-permitted area in the first mode and permitting it in the second mode; An automated driving method that performs the above.

2. The automatic traveling method according to claim 1 , wherein automatic traveling in which the traveling machine body is located outside the traveling-permitted area is prohibited in both the first mode and the second mode.

3. setting a peripheral position of the work allowed area that is outside the travel allowed area based on information about the travel allowed area and information about the work machine; The automatic traveling method according to claim 1 or 2, wherein in the second mode, the automatic traveling is permitted when the work machine is located within the work-permitted area.

4. setting a first work area in which work is performed by the work machine in the second mode in the work allowed area; generating a first work path in the travel allowed area that enables work in the first work area by the work machine; The automatic driving method according to claim 3, further comprising the steps of:

5. The automated driving method according to claim 4 , wherein the first work path can be offset within the travel-permitted area.

6. The automatic traveling method according to claim 4 , further comprising: reversing the orientation of the traveling machine body while the traveling machine body is automatically traveling along the first work path.

7. The automated driving method according to claim 4 , wherein a part of the first working area is set as the travel-permitted area.

8. setting a second work area in which work is performed by the work machine within the travel-allowed area; generating a second work path that enables work in the second work area in the first mode subsequent to work in the second mode; The automatic driving method according to claim 4, further comprising the steps of:

9. A work vehicle including a traveling machine body and a work implement attached to the traveling machine body; a control device that controls the automatic travel of the work vehicle within a work permission area; Equipped with The control device Registering a travel permission area that is provided within the work permission area and that allows the traveling machine body to travel; selecting a work mode from a first mode in which the work target is an area inside the travel-allowed area and a second mode in which the work target is an area inside the work-allowed area but outside the travel-allowed area; Prohibiting automatic travel in which the work machine is located outside the travel-permitted area in the first mode and permitting it in the second mode; An automated driving system that performs the following:

10. A program that causes a computer to execute an automatic travel method within a work permitted area for a work vehicle that includes a traveling machine body and a work implement attached to the traveling machine body, The computer Registering a travel permission area that is provided within the work permission area and that allows the traveling machine body to travel; selecting a work mode from a first mode in which the work target is an area inside the travel-allowed area and a second mode in which the work target is an area inside the work-allowed area but outside the travel-allowed area; Prohibiting automatic travel in which the work machine is located outside the travel-permitted area in the first mode and permitting it in the second mode; A program that serves as a means to

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