Autonomous driving method, automatic driving system, and automatic driving program

Abstract

To provide an automatic travel method, an automatic travel system, and an automatic travel program that allow multiple work vehicles to automatically travel between multiple areas without reducing work efficiency.SOLUTION: A travel processing part 211 makes a work vehicle 10a automatically travel down an inter-field route R17, and a work vehicle 10b automatically travel down an inter-field route R85. An avoidance processing part 212 is set up on a road R0 which is at the same time at least a part of the inter-field route R17 and at least a part of the inter-field route R85, when either the work vehicle 10a or the work vehicle 10b obstructs the travel of the other, based on at least either the routing information regarding inter-field routes, or the work information regarding work content within each field, or the road information regarding the road R0, evasive action is carried out at least on either the work vehicle 10a or the work vehicle 10b.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Conventionally, work vehicles capable of automatically traveling on connecting roads such as farm roads that connect multiple fields have been known. For example, a technology is known in which an automatic traveling route (inter-field route) is set for the connecting road, and the work vehicle automatically travels from one field to another along the inter-field route. Furthermore, when multiple work vehicles travel on the connecting road at the same time, a technology is known in which one work vehicle waits in the field until the other vehicle has passed in order to avoid collisions between the work vehicles (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-32804 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if a configuration is uniformly adopted in which one work vehicle waits in the field until the other work vehicle has passed, there will be a problem of reduced work efficiency, particularly for the work vehicle performing the waiting operation.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving system, and an automatic driving program that are capable of automatically driving multiple work vehicles between multiple areas without reducing work efficiency. [Means for solving the problem]

[0006] The autonomous driving method of the present invention is an autonomous driving method that automatically drives a first work vehicle from a first area to a second area according to a first inter-area route that is set in advance for a connecting road that connects each of the first and second areas; automatically drives a second work vehicle from a third area to a fourth area according to a second inter-area route that is set in advance for a connecting road that connects each of the third and fourth areas; and, when at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting road, and one of the first work vehicle and the second work vehicle obstructs the driving of the other, causes at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content within each area, and connecting road information regarding the connecting road.

[0007] The automated driving system according to the present invention includes a driving processing unit and an avoidance processing unit. The driving processing unit automatically drives a first work vehicle from a first area to a second area according to a first inter-area route that is preset for a connecting road connecting each of the first and second areas, and automatically drives a second work vehicle from the third area to the fourth area according to a second inter-area route that is preset for a connecting road connecting each of the third and fourth areas. When at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting road, and one of the first work vehicle and the second work vehicle obstructs the driving of the other, the avoidance processing unit causes at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content in each area, and connecting road information regarding the connecting road.

[0008] The automatic driving program of the present invention is an automatic driving program that causes one or more processors to execute the following: automatically driving a first work vehicle from a first area to a second area according to a first inter-area route that is set in advance for a connecting road that connects each of the first and second areas; automatically driving a second work vehicle from a third area to a fourth area according to a second inter-area route that is set in advance for a connecting road that connects each of the third and fourth areas; and, when at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting road, causing at least one of the first work vehicle and the second work vehicle to perform avoidance action based on at least one of route information regarding the inter-area route, work information regarding the work content within each area, and connecting road information regarding the connecting road, [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving system, and an automatic driving program that are capable of automatically driving multiple work vehicles between multiple areas without reducing work efficiency. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a route between fields for a work vehicle according to an embodiment of the present invention. [Figure 4A] FIG. 4A is a diagram showing an example of a target route in a field for a work vehicle according to an embodiment of the present invention. [Figure 4B] FIG. 4B is a diagram showing an example of a target route in a field for the work vehicle according to the embodiment of the present invention. [Figure 5]FIG. 5 is a diagram showing an example of a route between fields for a work vehicle according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a route between fields for a work vehicle according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of a route between fields for a work vehicle according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a route between fields for a work vehicle according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a route between fields for a work vehicle according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a route between fields for a work vehicle according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a route between fields for a work vehicle according to an embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of an operation screen of the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0012] As shown in Fig. 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10, a management device 20, and an operation terminal 30. The automated driving system 1 also includes a plurality of work vehicles 10. Each work vehicle 10, the management device 20, and the operation terminal 30 can communicate with each other via a communication network N1. For example, each work vehicle 10, the management device 20, and the operation terminal 30 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] In this embodiment, the work vehicle 10 will be described as a tractor. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, a snowplow, or the like. The work vehicle 10 is configured to be able to automatically travel (autonomously travel) within a field, which is the work area, according to a predetermined target route. The work vehicle 10 is also capable of performing predetermined work while automatically traveling within the field. Furthermore, the work vehicle 10 is configured to be able to automatically travel along roads (connecting roads) that connect multiple fields, according to a predetermined inter-field route. The work vehicle 10 automatically travels within and outside the field (on roads) according to a predetermined target route and inter-field route, based on position information of the current position of the work vehicle 10 calculated by the positioning device 16.

[0014] For example, the work vehicle 10a performs a predetermined task in the field F1 shown in FIGS. 3 and 4A while automatically traveling along a preset target route R1 (work route). When the work in the field F1 is completed, the work vehicle 10a automatically travels along a preset inter-field route R17 (travel route) on the road R0 to move to the field F7. For example, the work vehicle 10a automatically travels along the inter-field route R17 connecting the entrance / exit H1 of the field F1 and the entrance / exit H7 of the field F7. When the work vehicle 10a arrives at the field F7, it performs a predetermined task in the field F7 (see FIGS. 3 and 4B) while automatically traveling along the preset target route R7 (work route). The target route R1 in the field F1 and the target route R7 in the field F7 are set appropriately according to the content of each task. Furthermore, the inter-field route R17 of the road R0 is set in accordance with an operation (such as a teaching operation) by the operator (user).

[0015] Further, for example, work vehicle 10b performs predetermined work in field F8 shown in FIG. 5 while automatically traveling along a preset target route (work route). When work in field F8 is completed, work vehicle 10b automatically travels along a preset inter-field route R85 (travel route) on road R0 to move to field F5. For example, work vehicle 10b automatically travels along inter-field route R85 connecting entrance / exit H8 of field F8 and entrance / exit H5 of field F5. When work vehicle 10b arrives at field F5, it performs predetermined work in field F5 while automatically traveling along the preset target route (work route). The target route within field F8 and the target route within field F5 are set appropriately according to the content of each work. Furthermore, inter-field route R85 on road R0 is set according to operation by the operator.

[0016] In this embodiment, an example is given in which the work vehicle 10 travels between two fields, but the work vehicle 10 may also travel between three or more fields. When the work vehicle 10 travels sequentially through three or more fields, inter-field routes are set between each of the fields. The inter-field routes R17 and R85 are examples of inter-area routes of the present invention. Note that the inter-area routes of the present invention may not be routes for traveling from field to field (inter-field routes), but may simply be routes for traveling from a first point to a second point on road R0 (inter-point routes). Furthermore, the first point and the second point may be locations specified by the user on a map.

[0017] Furthermore, the connecting road of the present invention may be a road exclusively for work vehicles, such as a farm road, forest road, public road, private road, or motorway, or may be a road that is passable by general vehicles (such as passenger cars).

[0018] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning device 16, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the positioning device 16, etc. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0019] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wirelessly and executes data communication in accordance with a predetermined communication protocol with external devices such as the management device 20 and the operation terminal 30 via the communication network N1. The work vehicle 10 is capable of wireless communication with both the management device 20 and the operation terminal 30 via the communication unit 15.

[0020] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 12 ), which will be described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded to the work vehicle 10 from a server (not shown) via the communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data for a target route and an inter-field route generated in the operation terminal 30.

[0021] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 is equipped with an engine 131 (drive source), front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type equipped with front wheels 132 and rear wheels 133, but may also be a crawler type equipped with crawlers provided on the left and right sides of the work vehicle 10.

[0022] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source in addition to or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided on the work vehicle 10. The battery is charged with power supplied from the generator. The vehicle control device 11, positioning device 16, and other electrical components provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0023] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11.

[0024] The work implement 14 is, for example, a tiller, a seed sower, a mower, a plow, a fertilizer applicator, a spreader, or the like, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various types of work using each of the work implements 14. Figure 2 shows a case where the work implement 14 is a tiller.

[0025] When traveling on road R0 (see FIG. 3), the work vehicle 10 may travel with the work implement 14 attached, or may travel with the work implement 14 detached. For example, if the work vehicle 10a is to perform tillage work in each of the fields F1 and F8, after completing tillage work in field F1, the work vehicle 10a will travel along road R0 with the work implement 14 raised and move to field F8, and upon arriving at field F8, will lower the work implement 14 and perform tillage work. Also, for example, if different work is to be performed in each of the fields F1 and F8, after completing work in field F1, the work vehicle 10a will travel along road R0 with the work implement 14 detached and move to field F8, and will attach the work implement 14 and perform work in field F8.

[0026] The handle 137 is an operating section that is operated by the operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the vehicle control device 11, thereby changing the traveling direction of the work vehicle 10. When the operator performs a teaching operation, for example, the operator operates the handle 137 to manually travel the work vehicle 10.

[0027] In addition to the handlebars 137, the traveling device 13 is also equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and rear wheels 133 using an electromagnetic brake.

[0028] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2 , the positioning device 16 is provided above the cabin 138 in which the operator sits. The installation location of the positioning device 16 is not limited to the cabin 138. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be disposed in different locations in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0029] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory or the like that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the program may be downloaded to the positioning device 16 from a server (not shown) via the communication network N1 and stored in the storage unit 162.

[0030] The communication unit 163 is a communication interface that connects the positioning device 16 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with an external device such as a base station (not shown) via the communication network N1.

[0031] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0032] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is autonomously traveling in a field, on road R0, or the like, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, and the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position displaced from the positioning position.

[0033] The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as temporary storage memory (work area) for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0034] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also executes automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 16, and a predetermined target route and inter-field route. The vehicle control device 11 also controls the automatic driving operation of the work vehicle 10 in accordance with commands from the management device 20.

[0035] The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Also, some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

[0036] Specifically, the vehicle control device 11 starts the automatic driving of the work vehicle 10 when it receives a driving start instruction from the operation terminal 30. For example, when the operator presses the start button on the operation screen of the operation terminal 30, the operation terminal 30 outputs a driving start instruction to the work vehicle 10. When the vehicle control device 11 receives the driving start instruction from the operation terminal 30, it starts the automatic driving of the work vehicle 10. As a result, for example, the work vehicle 10a starts automatic driving according to the target route R1 (see FIG. 4A) in the field F1 and starts work by the work implement 14. Furthermore, the work vehicle 10a starts automatic driving according to the target route R7 (see FIG. 4B) in the field F7, for example, and starts work by the work implement 14. Furthermore, the work vehicle 10a performs automatic driving according to the inter-field route R17 (see FIG. 3) on the road R0, for example. That is, the vehicle control device 11 can automatically drive the work vehicle 10a on a road R0 outside the fields according to the inter-field route R17. For example, the vehicle control device 11 automatically drives the work vehicle 10a on the road R0 connecting the fields F1 and F7 according to the inter-field route R17 set on the road R0.

[0037] The target route and inter-field route R17 along which the work vehicle 10a will automatically travel are generated, for example, by the operation terminal 30. The work vehicle 10a acquires route data corresponding to the target route and inter-field route R17 from the operation terminal 30, and automatically travels according to the target route and inter-field route R17.

[0038] Similarly, the vehicle control device 11 of the work vehicle 10b causes the work vehicle 10b to work and automatically travel along a target route within the field F8, causes the work vehicle 10b to automatically travel along an inter-field route R85 (see FIG. 5) set on the road R0, and causes the work vehicle 10b to work and automatically travel along the target route within the field F5. The target route and inter-field route R85 along which the work vehicle 10b automatically travels are generated, for example, by the operation terminal 30. The work vehicle 10b acquires route data corresponding to the target route and inter-field route R85 from the operation terminal 30, and automatically travels along the target route and inter-field route R85.

[0039] Furthermore, when the vehicle control device 11 receives a travel stop instruction from the operation terminal 30, it stops the automatic travel of the work vehicle 10. For example, when the operator presses the stop button on the operation screen of the operation terminal 30, the operation terminal 30 outputs a travel stop instruction to the work vehicle 10.

[0040] Furthermore, the vehicle control device 11 stops the automatic traveling of the work vehicle 10 when the work vehicle 10 detects an obstacle. For example, when an obstacle detection device (not shown) mounted on the work vehicle 10 detects an obstacle within a range of 3 to 8 meters ahead of the work vehicle 10, the vehicle control device 11 causes the work vehicle 10 to decelerate. Furthermore, when the obstacle detection device detects an obstacle within a range of up to 3 meters ahead of the work vehicle 10, the vehicle control device 11 causes the work vehicle 10 to stop.

[0041] Furthermore, when the vehicle control device 11 of each work vehicle 10 receives an instruction to perform an avoidance operation, which will be described later, from the management device 20, it causes the work vehicle 10 to perform a predetermined avoidance operation (such as temporarily stopping, slowing down, or reversing).

[0042] [Operation terminal 30] 1, the operation terminal 30 is an information processing device that includes an operation control unit, a storage unit, an operation display unit, and a communication unit (none of which are shown). The operation terminal 30 may be configured as a mobile terminal such as a tablet terminal or a smartphone. Furthermore, one operation terminal 30 may be provided for multiple work vehicles 10, or one operation terminal 30 may be provided for each work vehicle 10.

[0043] The communication unit is a communication interface that connects the operation terminal 30 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as multiple work vehicles 10 via the communication network N1.

[0044] The operation display unit is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. An operator can operate the operation unit on the operation screen displayed on the display unit to register various information (such as work vehicle information, field information, and work information, which will be described later).

[0045] Furthermore, the operator performs an operation (teaching operation) on the operation unit to set a route between fields so that the work vehicle 10 can automatically travel on a road R0 (connecting road) that connects a plurality of fields.

[0046] The operator can also operate the operation unit to give instructions to start and stop driving to the work vehicle 10. Furthermore, from a location away from the work vehicle 10, the operator can understand the driving status of the work vehicle 10, which is automatically driving along the target route and the route between fields in each field and on the road R0, by looking at the driving trajectory displayed on the operation terminal 30.

[0047] The storage unit is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit stores a control program for causing the control unit 21 to execute various processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit. The control program may also be downloaded from a server (not shown) to the operation terminal 30 via the communication network N1 and stored in the storage unit.

[0048] The storage unit also has installed therein a dedicated application for automatically driving the work vehicle 10. The operation control unit starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating target routes and routes between fields for the work vehicle 10, and issuing instructions for automatic driving to the work vehicle 10.

[0049] The memory unit also stores data such as work vehicle information, which is information related to the work vehicle 10, and target route information, which is information related to the target route. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10. The memory unit may store the work vehicle information related to one work vehicle 10, or may store the work vehicle information related to multiple work vehicles 10. For example, if a specific operator owns multiple work vehicles 10, the work vehicle information related to each work vehicle 10 is stored in the memory unit.

[0050] The target route information includes information such as the route name, field name, address, field area, and work time for each target route. The route name is the route name of the target route generated on the operation terminal 30. The field name is the name of the field to be worked on for which the target route is set. The address is the address of the field, and the field area is the area of ​​the field. The work time is the time required for the work vehicle 10 to work in the field.

[0051] If the target route is a route corresponding to road R0 (route between fields), the target route information includes information such as the route name, address, travel distance, and travel time. The route name is the name of road R0, and the address is the address of road R0. The travel distance is the distance traveled by work vehicle 10 on road R0, and is the distance from one field to another field. The travel time is the time it takes for work vehicle 10 to travel on road R0, and is the time required to travel from one field to another field.

[0052] The storage unit may store the target route information for one target route, or may store the target route information for multiple target routes. For example, if a specific operator generates multiple target routes for one or multiple fields that he or she owns, the target route information for each target route is stored in the storage unit. One target route or multiple target routes may be set for one field. Furthermore, one inter-field route or multiple inter-field routes may be set for a set of fields. In this embodiment, the storage unit stores the target route information for each of the multiple work vehicles 10. For example, the memory unit stores the target route information for work vehicle 10a, which includes target route information corresponding to target route R1 for traveling through field F1 (see Figure 4A), target route information corresponding to target route R7 for traveling through field F7 (see Figure 4B), and target route information corresponding to inter-field route R17 for traveling on road R0 (see Figure 3), and the memory unit stores the target route information for work vehicle 10b, which includes target route information corresponding to target route for traveling through field F8, target route information corresponding to target route for traveling through field F5, and target route information corresponding to inter-field route R85 for traveling on road R0 (see Figure 5).

[0053] In another embodiment, some or all of the information such as the work vehicle information and the target route information may be stored in a server (e.g., management device 20) accessible from the operation terminal 30. The operator may perform an operation to register the work vehicle information and the target route information in the server (e.g., a personal computer, a cloud server, etc.).

[0054] The operation control unit has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various arithmetic processes are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various information and is used as temporary storage memory for the various processes executed by the CPU. The operation control unit controls the operation terminal 30 by having the CPU execute various control programs pre-stored in the ROM or storage unit.

[0055] The operation control unit functions as the various processing units by executing various processes in accordance with the control program using the CPU. Also, some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0056] Specifically, the operation control unit sets information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field (hereinafter referred to as field information), and information about how the work will be performed specifically (hereinafter referred to as work information). The operation control unit accepts setting operations by the operator on a setting screen (not shown) and registers each piece of setting information.

[0057] Specifically, the operation control unit sets information such as the model of the work vehicle 10, the position where the positioning antenna 164 is attached on the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 while working, and the vehicle speed and engine speed of the work vehicle 10 while turning, by having the operator perform operations to register this information on the operation terminal 30.

[0058] In addition, the operation control unit sets information such as the position and shape of the field, the work start position (travel start position) where work begins and the work end position (travel end position) where work ends, and the work direction by performing operations to register the information on the operation terminal 30.

[0059] Information on the position and shape of the field can be automatically obtained, for example, by having an operator get into the work vehicle 10 and drive it around the perimeter of the field, recording the changes in position information of the positioning antenna 164 at that time. The position and shape of the field can also be obtained based on a polygon obtained by the operator operating the operation terminal 30 to specify multiple points on a map while a map is displayed on the operation terminal 30. The area specified by the obtained position and shape of the field is the area in which the work vehicle 10 can be driven (travel area).

[0060] For example, the operation control unit registers the field information of the field F1 shown in FIG. 4A and the field information of the field F7 shown in FIG. 4B.

[0061] In addition, the operation control unit is configured to be able to set work information such as whether or not the work vehicle 10 (unmanned tractor) and the manned work vehicle 10 are working cooperatively, the number of skips which is the number of work paths the work vehicle 10 will skip when turning on the headland, the width of the headland, and the width of the non-cultivated land.

[0062] Furthermore, the operation control unit generates a target route for automatically driving the work vehicle 10 in the field based on the setting information. Specifically, the operation control unit generates a target route in the field based on the travel start position and travel end position registered in the field setting. For example, as shown in FIG. 4A, the operation control unit generates a target route R1 including a travel start position S1, a travel end position G1, a straight path r1 (the solid line portion in FIG. 4A), and a turning path r2 (the dotted line portion in FIG. 4A) based on the setting operation of the operator. Furthermore, as shown in FIG. 4B, for example, the operation control unit generates a target route R7 including a travel start position S7, a travel end position G7, a straight path r1 (the solid line portion in FIG. 4B), and a turning path r2 (the dotted line portion in FIG. 4B) based on the setting operation of the operator. The operation control unit registers the generated target route R1 in association with the field F1, and registers the generated target route R7 in association with the field F7.

[0063] Furthermore, the operation control unit generates an inter-field route of the road R0 that connects a plurality of fields based on an operation (teaching operation) by the operator, as will be described below.

[0064] Specifically, the operation control unit accepts driving operations from the operator. For example, the operation control unit accepts driving operations (manual steering) to manually drive the work vehicle 10 from field F1 to field F7. The operation control unit acquires, from the positioning device 16, position information of the work vehicle 10 traveling on road R0 connecting field F1 and field F7 based on the driving operations by the operator. The operation control unit generates an inter-field route R17 that will cause the work vehicle 10 to automatically travel between field F1 and field F7 based on the position information acquired based on the driving operations by the operator. The operation control unit registers the generated inter-field route R17 in association with field F1 and field F7.

[0065] The operation control unit stores inter-field route information in the memory unit, including identification information (route ID) of the inter-field route, a starting field corresponding to the route start position of the inter-field route, an ending field corresponding to the route end position of the inter-field route, position information indicating the position of the inter-field route, and speed information which is the traveling speed of the work vehicle 10 on the inter-field route.

[0066] When the operator performs an operation such as selecting the work vehicle 10a, selecting the fields F1 and F7, selecting the target route R1 within the field F1 and the target route R7 within the field F7, or selecting the inter-field route R17 that moves between the fields F1 and F7, and then presses the start button, the operation control unit outputs route data for the target route and the inter-field route to the work vehicle 10a.

[0067] Furthermore, when the operator performs an operation such as selecting the work vehicle 10b, selecting the field F8 and the field F5, selecting a target route within the field F8 and a target route within the field F5, or selecting the inter-field route R85 for moving between the fields F8 and F5, and then pressing the start button, the operation control unit outputs route data for the target route and the inter-field route to the work vehicle 10b. Note that the operation control unit may also output each of the route data to the management device 20.

[0068] When the route data generated in the operation terminal 30 is transferred to each work vehicle 10, it is stored in the memory unit 12. The work vehicle 10 detects the current position of the work vehicle 10 using the positioning antenna 164 and executes automatic driving processing based on the route data.

[0069] The work vehicle 10 is also configured to be able to automatically travel within a field when its current position coincides with the travel start position within the field. The work vehicle 10 is also configured to be able to automatically travel along a route between fields when its current position coincides with the route start position of the entrance / exit of the field.

[0070] For example, when the current position of the work vehicle 10a coincides with the starting position S1 of the field F1, and the operator presses the start button on the operation screen (not shown) to give an instruction to start traveling, the vehicle control device 11 of the work vehicle 10a starts automatic traveling along the target route R1.

[0071] The vehicle control device 11 automatically drives the work vehicle 10a from a travel start position S1 to a travel end position G1 in the field F1 according to the target route R1 (see FIG. 4A). When the work vehicle 10a reaches the travel end position G1, the vehicle control device 11 automatically or manually drives the work vehicle 10a from the travel end position G1 to the entrance / exit H1.

[0072] When the current position of the work vehicle 10a coincides with the entrance / exit H1, the vehicle control device 11 automatically drives the work vehicle 10a from the entrance / exit H1 to the entrance / exit H7 of the field F7 according to the inter-field route R17 (see FIG. 3). Note that the vehicle control device 11 may temporarily stop the work vehicle 10a when the work vehicle 10 exits the field F1 onto the road R0, and request a safety confirmation from the operator.

[0073] The vehicle control device 11 causes the work vehicle 10a to travel automatically based on the position information, speed information, etc. associated with the inter-field route R17. For example, the vehicle control device 11 sets the travel speed corresponding to the speed information as the upper limit speed, and causes the work vehicle 10a to travel automatically while controlling the travel speed of the work vehicle 10a. If the vehicle control device 11 detects an obstacle while the work vehicle 10a is traveling automatically on the road R0, the vehicle control device 11 causes the work vehicle 10a to travel automatically along the inter-field route R17 while avoiding the obstacle.

[0074] Furthermore, the vehicle control device 11 causes the work vehicle 10a to temporarily stop when the work vehicle 10a enters the field F7 from the road R0. When the work vehicle 10a reaches the entrance / exit H7, the vehicle control device 11 causes the work vehicle 10a to move from the entrance / exit H7 to a travel start position S7 in the field F7 by automatic or manual driving.

[0075] When the current position of the work vehicle 10a coincides with the travel start position S7, the vehicle control device 11 causes the work vehicle 10a to automatically travel from the travel start position S7 to the travel end position G7 according to the target route R7 (see FIG. 4B). When the work vehicle 10a reaches the travel end position G7, the vehicle control device 11 ends the automatic travel. In this way, the vehicle control device 11 causes the work vehicle 10a to automatically travel within the field F1, then automatically travel along the inter-field route R17 from the field F1 to the field F7, and then automatically travel within the field F7.

[0076] While the work vehicle 10 is traveling automatically, the operator can use the operation terminal 30 to grasp the traveling conditions within the field F1, the traveling conditions on the road R0 connecting the fields F1 and F7, and the traveling conditions within the field F7.

[0077] The operation terminal 30 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (for example, the management device 20) via the communication network N1. In this case, the operation terminal 30 can function as an operation terminal for the server by executing a browser program by an operation control unit. The server is provided with the above-mentioned processing units and executes each process.

[0078] With the above-described configuration, each of the multiple work vehicles 10 can automatically travel between fields according to the inter-field routes set on road R0. Here, if the inter-field routes set for each work vehicle 10 overlap in part or in whole, there is a risk that the work vehicles 10 will collide with each other when automatically traveling on road R0. For example, inter-field route R17 (see FIG. 3) set for work vehicle 10a traveling from field F1 to field F7 partially overlaps with inter-field route R85 (see FIG. 5) set for work vehicle 10b traveling from field F8 to field F5. For this reason, there is a risk that work vehicle 10a and work vehicle 10b will collide with each other if they automatically travel on road R0 at the same time.

[0079] Therefore, for example, when work vehicle 10a automatically travels on road R0, it is conceivable to configure work vehicle 10b to stop in field F8 (for example, at entrance / exit H8), and then work vehicle 10b begins automatically traveling on road R0 after work vehicle 10a has completed its movement to field F7. However, if this configuration is uniformly adopted, a problem arises in that the efficiency of work performed by work vehicle 10b decreases. In response to this, the management device 20 according to this embodiment has a configuration that enables multiple work vehicles 10 to automatically travel between multiple fields without reducing work efficiency, as will be described below.

[0080] [Management device 20] 1, the management device 20 is a server including a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The management device 20 is not limited to a single computer, but may be a computer system in which multiple computers operate in cooperation with each other. The various processes executed by the management device 20 may be executed in a distributed manner by one or multiple processors. The management device 20 and the operation terminal 30 may also be configured as an integrated device.

[0081] The communication unit 24 is a communication interface that connects the management device 20 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as multiple work vehicles 10 via the communication network N1.

[0082] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a mouse, keyboard, or touch panel that accepts operations.

[0083] The memory unit 22 is a non-volatile memory unit such as an HDD or SSD that stores various types of information. Specifically, the memory unit 22 stores data such as target route information relating to the target route and inter-field route set for each work vehicle 10, position information of the current position of each work vehicle 10, and work information relating to the work content and work status of each work vehicle 10.

[0084] In another embodiment, some or all of the target route information, the position information, and the work information may be stored in another server accessible from management device 20 via communication network N1. In this case, control unit 21 of management device 20 may acquire the information from the other server and execute various processes such as the automatic driving process (see FIG. 12) described below.

[0085] Furthermore, the storage unit 22 stores control programs such as an automatic driving program for causing the control unit 21 to execute the automatic driving process. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a reading device (not shown) such as a CD drive or a DVD drive provided in the management device 20 and stored in the storage unit 22.

[0086] The control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The control unit 21 controls the management device 20 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 22.

[0087] Specifically, as shown in Fig. 1, the control unit 21 includes various processing units such as a driving processing unit 211 and an avoidance processing unit 212. The control unit 21 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

[0088] The driving processing unit 211 automatically drives the work vehicle 10 from one field to another according to a predetermined inter-field route for a road R0 connecting multiple fields. For example, the driving processing unit 211 automatically drives the work vehicle 10a from field F1 to field F7 according to a predetermined inter-field route R17 (see FIG. 3), and automatically drives the work vehicle 10b from field F8 to field F5 according to a predetermined inter-field route R85 (see FIG. 5).

[0089] The avoidance processing unit 212 causes the work vehicles 10 to perform avoidance operations when a situation arises in which multiple work vehicles 10 obstruct each other's travel (a conflicting state) when traveling on road R0. Specifically, when at least a portion of the first inter-field route and at least a portion of the second inter-field route are set on the same road R0, and one of the first work vehicle 10 and the second work vehicle 10 obstructs the travel of the other, the avoidance processing unit 212 causes at least one of the first work vehicle 10 and the second work vehicle 10 to perform avoidance operations (such as temporarily stopping, slowing down, or reversing) based on at least one of the route information related to the inter-field route and road information related to road R0 (corresponding to connecting road information of the present invention). Specific examples of the avoidance operations will be described below.

[0090] [Example of avoidance behavior 1] For example, in the example shown in FIGS. 3 and 5, the entrance / exit H7 of field F7, the destination (destination) of work vehicle 10a, is located closer to the traveling direction of work vehicle 10b than the entrance / exit H8 of field F8, the source of work vehicle 10b. In other words, the section of road R0 from entrance / exit H8 to entrance / exit H7 is a section where work vehicle 10a and work vehicle 10b do not compete (do not obstruct each other's travel). In this case, as shown in FIG. 6, the avoidance processing unit 212 causes work vehicle 10b to wait (temporarily stop) at a predetermined position P1 on road R0 (a position between entrance / exit H8 and entrance / exit H7). Position P1 is, for example, a position just before entrance / exit H7 on inter-field route R85. The travel processing unit 211 automatically causes work vehicle 10b to travel from entrance / exit H8 along inter-field route R85, and when work vehicle 10b reaches position P1, the avoidance processing unit 212 causes work vehicle 10b to temporarily stop. Furthermore, the driving processing unit 211 automatically drives the work vehicle 10a along the inter-field route R17.

[0091] When work vehicle 10b stops at position P1 and work vehicle 10a automatically travels along inter-field route R17 and reaches entrance / exit H7 of field F7, travel processing unit 211 resumes automatic travel of work vehicle 10b.

[0092] According to the configuration of Example 1, work vehicle 10b is moved to position P1 and made to temporarily stop (standby), and when work vehicle 10a has passed, automatic traveling resumes from position P1, so work vehicle 10b can be moved to the destination (field F5) more quickly than in a configuration where work vehicle 10b is made to wait at entrance / exit H8. This makes it possible to prevent a decrease in the work efficiency of work vehicle 10b.

[0093] [Example of avoidance behavior 2] Figure 7 shows an example in which work vehicle 10a automatically travels from field F1 to field F8 according to inter-field route R18, and work vehicle 10b automatically travels from field F7 to field F5 according to inter-field route R75. In the example shown in Figure 7, a start position P2 on road R0 of inter-field route R75 for work vehicle 10b is located on inter-field route R18 for work vehicle 10a. In other words, an entrance / exit H7 of field F7, the source of work vehicle 10b, is located between field F1, the source of work vehicle 10a, and destination field F8.

[0094] In this case, the avoidance processing unit 212 causes the work vehicle 10b to wait in field F7, as shown in Figure 7. For example, the avoidance processing unit 212 causes the work vehicle 10b to temporarily stop at the entrance / exit H7 of field F7. The driving processing unit 211 also causes the work vehicle 10a to automatically drive along the inter-field route R18. When the work vehicle 10a automatically drives along the inter-field route R18 and passes the start position P2, the driving processing unit 211 causes the work vehicle 10b to begin automatic driving along the inter-field route R75.

[0095] If the entrance / exit H7 of the field F7 is inclined, the avoidance processing unit 212 may cause the work vehicle 10b to temporarily stop on flat ground in front of the entrance / exit H7 within the field F7.

[0096] According to the configuration of specific example 2, work vehicle 10b is made to stop temporarily (standby) in field F7 until work vehicle 10a passes position P2, thereby ensuring the safety of work vehicle 10a and work vehicle 10b. Furthermore, automatic traveling of work vehicle 10b begins at the point when work vehicle 10a passes position P2, preventing a decline in the work efficiency of work vehicle 10b.

[0097] [Example of avoidance behavior 3] As shown in Figure 8, if road R0 is wide enough for work vehicle 10a and work vehicle 10b to pass each other, avoidance processing unit 212 causes at least one of work vehicle 10a and work vehicle 10b to decelerate or stop temporarily. For example, if the current vehicle speed of work vehicle 10a traveling on road R0 is faster than the current vehicle speed of work vehicle 10b traveling on road R0, avoidance processing unit 212 causes work vehicle 10b to decelerate or stop temporarily. This allows work vehicle 10a to be given priority to move to the destination (field F8).

[0098] In addition, the work vehicle 10a or the work vehicle 10b, whichever has the longer remaining distance from its current position to the destination, may be made to decelerate or stop temporarily. This allows the work vehicle 10 that is closer to the destination to be given priority in moving to the destination.

[0099] Furthermore, the work vehicle 10a or the work vehicle 10b, whichever is larger in vehicle size, may be made to decelerate or stop temporarily. Furthermore, the work vehicle 10a or the work vehicle 10b, whichever is heavier in vehicle weight, may be made to decelerate or stop temporarily. This allows the work vehicle 10, which is smaller in vehicle size or lighter in vehicle weight, to pass safely with priority.

[0100] [Example of avoidance behavior 4] As shown in Figure 9, if an intersection exists on road R0, the avoidance processing unit 212 causes at least one of work vehicle 10a and work vehicle 10b to perform an avoidance operation at the intersection. For example, the avoidance processing unit 212 causes work vehicle 10b, which enters the intersection first between work vehicle 10a and work vehicle 10b, to offset the inter-field route R75 at the intersection and slow down or stop temporarily. This allows work vehicle 10a and work vehicle 10b to safely pass each other at the intersection.

[0101] Additionally, the avoidance processing unit 212 may offset the inter-field route at an intersection for the work vehicle 10a or work vehicle 10b whichever is smaller in size or lighter in weight. In this way, by having the maneuverable work vehicle 10b perform an avoidance operation, the work vehicles 10a and 10b can safely pass each other on road R0.

[0102] [Example of avoidance behavior 5] As shown in Fig. 10, if a turn-off area A1 exists on road R0, the avoidance processing unit 212 causes at least one of work vehicle 10a and work vehicle 10b to perform an avoidance operation in turn-off area A1. In the example shown in Fig. 10, a predetermined turn-off area A1 exists on the field F3 side of road R0. In this case, the avoidance processing unit 212 causes work vehicle 10a, of work vehicle 10a and work vehicle 10b, to decelerate or temporarily stop in turn-off area A1. This allows work vehicle 10a and work vehicle 10b to pass each other safely.

[0103] 10, if work vehicle 10b reaches the evacuation area A1 before work vehicle 10a, avoidance processing unit 212 may cause work vehicle 10b to decelerate or temporarily stop in evacuation area A1. This reduces the time that work vehicle 10b remains in evacuation area A1, thereby preventing a decrease in work efficiency.

[0104] [Example of avoidance behavior 6] Figure 11 shows an example in which work vehicle 10a automatically travels from field F1 to field F8 according to inter-field route R18, and work vehicle 10b automatically travels from field F7 to field F6 according to inter-field route R76. In the example shown in Figure 11, if work vehicle 10a is located before entrance / exit H6 of the destination (field F6) of work vehicle 10b at the time when work vehicle 10b starts automatic travel on road R0 (when it is located at entrance / exit H7), the avoidance processing unit 212 causes work vehicle 10a to wait (temporarily stop) at position P3 on inter-field route R18 before entrance / exit H6 (a position between entrance / exit H1 and entrance / exit H6). The driving processing unit 211 automatically drives the work vehicle 10a from the entrance / exit H1 along the inter-field route R18, and when the work vehicle 10a reaches position P3, the avoidance processing unit 212 causes the work vehicle 10a to temporarily stop.

[0105] When work vehicle 10a stops at position P3 and work vehicle 10b automatically travels along inter-field route R76 and arrives at entrance / exit H6 of field F6, travel processing unit 211 resumes automatic travel of work vehicle 10a.

[0106] According to the configuration of Example 6, work vehicle 10a is moved to position P3 and made to temporarily stop (standby), and when work vehicle 10b has passed, automatic traveling resumes from position P3, so work vehicle 10 can be moved to the destination more quickly than a configuration in which work vehicle 10a is made to wait at entrance / exit H1 or work vehicle 10b is made to wait at entrance / exit H7. This makes it possible to prevent a decrease in the work efficiency of work vehicle 10.

[0107] In this way, when the entrance / exit H6 of the work vehicle 10b (first work vehicle) in the field F6 (an example of the second area of ​​the present invention) is located on the side of the work vehicle 10a's direction of travel relative to the entrance / exit H1 of the work vehicle 10a (second work vehicle) in the field F1 (an example of the third area of ​​the present invention), and the current position of the work vehicle 10a is located closer to the field F1 side than the entrance / exit H6 of the field F6 at the time the work vehicle 10b starts automatic driving on the inter-field route R76, the avoidance processing unit 212 causes the work vehicle 10a to wait at a position P3 on the inter-field route R18 closer to the field F1 side than the entrance / exit H6 of the field F6.

[0108] As described above, the avoidance processing unit 212 causes the work vehicles 10 to perform the above-mentioned avoidance operation when multiple work vehicles 10 are in a conflict state on road R0. The avoidance processing unit 212 may perform any of the avoidance operations of the above-mentioned specific examples 1 to 6, or may perform a combination of at least two of the avoidance operations of specific examples 1 to 6. The operator may also be able to select at least one of the avoidance operations of specific examples 1 to 6 on the operation terminal 30. In this case, the avoidance processing unit 212 performs the avoidance operation set by the operator's selection operation.

[0109] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0110] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. Furthermore, one or more steps included in the automatic driving process described herein may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same effects are achieved. Furthermore, while the description here uses as an example a case in which the control unit 21 of the management device 20 executes each step in the automatic driving process, another embodiment of the automatic driving method can also be considered, in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0111] In step S1, the control unit 21 determines whether or not the work vehicle 10 will start autonomous driving on the road R0 between the fields. For example, when the operator of the work vehicle 10a issues an instruction to have the work vehicle 10a automatically drive along the inter-field route R17 (see FIG. 3) connecting the fields F1 and F7, the control unit 21 determines that the work vehicle 10a will start autonomous driving. The control unit 21 monitors the status of each work vehicle 10 and determines whether or not each work vehicle 10 will start autonomous driving. When the control unit 21 determines that any of the work vehicles 10 will start autonomous driving (S1: Yes), it transitions the processing to step S2. The control unit 21 waits until any of the work vehicles 10 starts autonomous driving (S1: No).

[0112] In step S2, the control unit 21 determines whether or not there are any competing work vehicles 10. For example, if work vehicle 10a moves from field F1 to field F7 (see FIG. 3) and work vehicle 10b moves from field F8 to field F5 (see FIG. 5), and work vehicle 10a and work vehicle 10b travel on road R0 at the same time, they will obstruct each other's travel, creating a conflict. If the control unit 21 determines that there are competing work vehicles 10 (S2: Yes), it transitions the process to step S3.

[0113] On the other hand, if the control unit 21 determines that there are no competing work vehicles 10 (S2: No), it transitions the processing to step S8. For example, even if at least a portion of the inter-field route R17 (see FIG. 3) corresponding to work vehicle 10a overlaps with at least a portion of the inter-field route R85 (see FIG. 5) corresponding to work vehicle 10b, if work vehicle 10a and work vehicle 10b travel on road R0 at different times, they do not interfere with each other's travel, so no conflict occurs. If there are no competing work vehicles 10 with work vehicle 10a (S2: No), the control unit 21 causes work vehicle 10a to perform automatic travel along inter-field route R17.

[0114] In step S3, the control unit 21 determines whether the competing work vehicles 10 can pass each other on the road R0. For example, if the width of the road R0 on which the inter-field route is set is wide enough for the competing work vehicles 10 to pass each other (see FIG. 8), if an intersection exists on the road R0 (see FIG. 9), or if an evacuation area A1 exists on the road R0 (see FIG. 10), the control unit 21 determines that the competing work vehicles 10 can pass each other on the road R0. If the control unit 21 determines that the competing work vehicles 10 can pass each other on the road R0 (S3: Yes), it shifts the processing to step S31. On the other hand, if the control unit 21 determines that the competing work vehicles 10 cannot pass each other on the road R0 (S3: No), it shifts the processing to step S4.

[0115] In step S31, the control unit 21 decelerates the travel of at least one of the competing work vehicles 10. For example, in the example shown in Fig. 8, the control unit 21 decelerates the vehicle speed of each of the work vehicles 10a and 10b before and after the position where the work vehicles 10a and 10b pass each other.

[0116] In another embodiment, the control unit 21 may slow down or temporarily stop the work vehicle 10 that is larger in size or heavier in weight at a position where the work vehicles 10a and 10b pass each other. After step S31, the control unit 21 transitions the processing to step S6.

[0117] In step S4, the control unit 21 determines whether or not there is an avoidance position on road R0 that will cause the work vehicle 10 to perform an avoidance operation. For example, the control unit 21 determines whether or not there is a location on road R0 where one work vehicle 10 can wait until the other work vehicle 10 has passed. For example, as shown in FIG. 6, if the entrance / exit H7 of the destination (field F7) of work vehicle 10a is located on the side of the traveling direction of work vehicle 10b from the entrance / exit H8 of field F8, which is the travel start position of work vehicle 10b, the control unit 21 sets position P1 between entrance / exit H8 and entrance / exit H7 as the avoidance position for work vehicle 10b.

[0118] Furthermore, for example, as shown in FIG. 9, if an intersection exists on road R0, control unit 21 sets the intersection as an avoidance position for work vehicle 10b.

[0119] Furthermore, for example, as shown in FIG. 10, if a turn-off area A1 exists on road R0, control unit 21 sets turn-off area A1 as an avoidance position for work vehicle 10b.

[0120] Also, for example, as shown in FIG. 11, when the work vehicle 10b starts automatic driving on road R0 (when it is located at entrance / exit H7), if the work vehicle 10a is located before the entrance / exit H6 of the destination (field F6) of the work vehicle 10b, the control unit 21 sets position P3 between entrance / exit H1 and entrance / exit H6 as the avoidance position for the work vehicle 10b.

[0121] If the control unit 21 determines that an avoidance position exists on road R0 (S4: Yes), it shifts the process to step S5. If the control unit 21 determines that an avoidance position does not exist on road R0 (S4: No), it shifts the process to step S41. For example, as shown in Fig. 7, if the start position P2 on road R0 of inter-field route R75 for work vehicle 10b is located on inter-field route R18 for work vehicle 10a, and the current position of work vehicle 10a is located closer to start position P2 than the entrance / exit H5 of the destination (field F5) of work vehicle 10b, the control unit 21 determines that there is no avoidance position on road R0 that allows work vehicle 10b to avoid it (S4: No).

[0122] In step S5, the control unit 21 causes the work vehicle 10 to temporarily stop at the avoidance position. For example, in the example shown in FIG. 6, the control unit 21 causes the work vehicle 10b to temporarily stop at position P1. In another example shown in FIG. 9, the control unit 21 causes the work vehicle 10b to temporarily stop at an intersection. In another example shown in FIG. 10, the control unit 21 causes the work vehicle 10a to temporarily stop at the evacuation area A1. In another example shown in FIG. 11, the control unit 21 causes the work vehicle 10a to temporarily stop at position P3. After step S5, the control unit 21 transitions the process to step S6.

[0123] In step S41, the control unit 21 causes the work vehicle 10 to temporarily stop within the field. For example, in the example shown in Fig. 7, the control unit 21 causes the work vehicle 10b to temporarily stop at the entrance / exit H7 of the field F7. After step S41, the control unit 21 transitions the process to step S6.

[0124] In step S6, the control unit 21 determines whether the conflict state between the multiple work vehicles 10 has been resolved. For example, in the example shown in FIG. 6, when the work vehicle 10a reaches the entrance / exit H7 of the field F7, the control unit 21 determines that the conflict state between the work vehicles 10a and 10b has been resolved. Also, for example, in the example shown in FIG. 9, when the work vehicle 10a passes through an intersection, the control unit 21 determines that the conflict state between the work vehicles 10a and 10b has been resolved. Also, for example, in the example shown in FIG. 10, when the work vehicle 10b passes through the evacuation area A1, the control unit 21 determines that the conflict state between the work vehicles 10a and 10b has been resolved. Also, for example, in the example shown in FIG. 11, when the work vehicle 10b reaches the entrance / exit H6 of the field F6, the control unit 21 determines that the conflict state between the work vehicles 10a and 10b has been resolved.

[0125] Also, in the example shown in FIG. 7, when work vehicle 10a passes position P2, control unit 21 determines that the conflict state between work vehicle 10a and work vehicle 10b has been resolved.

[0126] Furthermore, in the example shown in FIG. 8, when work vehicle 10a and work vehicle 10b pass each other on road R0, control unit 21 determines that the conflict state between work vehicle 10a and work vehicle 10b has been resolved.

[0127] When the control unit 21 determines that the conflict state between the multiple work vehicles 10 has been resolved (S6: Yes), the control unit 21 shifts the processing to step S7. The control unit 21 waits until the conflict state between the multiple work vehicles 10 is resolved (S6: No).

[0128] In step S7, the control unit 21 resumes the automatic traveling of the work vehicle 10 that has been caused to perform the avoidance operation. For example, the control unit 21 resumes the traveling of the work vehicle 10 that was temporarily stopped. The control unit 21 also returns the vehicle speed of the work vehicle 10 that was decelerated to the set speed. The control unit 21 also returns the inter-field route that was offset to its original state.

[0129] Next, in step S8, the control unit 21 determines whether or not movement of the work vehicle 10 between fields has finished. When movement of the work vehicle 10 between fields has finished (S8: Yes), the control unit 21 ends the automatic driving process. On the other hand, if movement of the work vehicle 10 between fields has not finished (S8: No), the control unit 21 transitions the process to step S2 and repeats the above-mentioned process. The control unit 21 executes the automatic driving process in the above manner.

[0130] In another embodiment of the present invention, when one of the first work vehicle 10 and the second work vehicle 10 obstructs the travel of the other, the control unit 21 may cause at least one of the first work vehicle 10 and the second work vehicle 10 to perform an avoidance operation based on work information relating to the work content within each field F. For example, when work vehicle 10a and work vehicle 10b are in a conflicting state, the control unit 21 may determine which work vehicle 10 is to perform an avoidance operation based on the progress of the work plan for that day. For example, when the progress of the work for that day by work vehicle 10a is not far behind the work plan and the progress of the work for that day by work vehicle 10b is far behind the work plan, the control unit 21 causes work vehicle 10a to perform an avoidance operation (temporarily stopping, slowing down, etc.) and prioritizes the autonomous travel (movement between fields) of work vehicle 10b.

[0131] Furthermore, for example, if work vehicle 10a and work vehicle 10b are in a conflicting state, control unit 21 compares the work content by work vehicle 10a with the work content by work vehicle 10b, and causes work vehicle 10 that does not need to be rushed to perform the work to execute an avoidance operation, and prioritizes the automatic traveling of work vehicle 10 that needs to be rushed to perform the work. For example, if work vehicle 10a moves to a field where tillage work has already been completed to perform seeding work, it is desirable to perform the seeding work immediately after the tillage work, so control unit 21 causes work vehicle 10b to execute an avoidance operation and prioritizes the automatic traveling of work vehicle 10a.

[0132] Furthermore, for example, if the destinations of work vehicle 10a and work vehicle 10b are set to the same field, control unit 21 may compare the work content of work vehicle 10a with the work content of work vehicle 10b to determine which work vehicle 10 should perform an avoidance operation. For example, if work vehicle 10a is performing tilling work and work vehicle 10b is performing sowing work in the same field, control unit 21 will have work vehicle 10b perform an avoidance operation, as tilling work must be performed before sowing work, and will give priority to the automatic traveling of work vehicle 10a.

[0133] As described above, the automated driving system 1 according to this embodiment automatically drives the first work vehicle 10 from the first field to the second field according to the first inter-field route that is set in advance for the road R0 that connects the first field and the second field, and automatically drives the second work vehicle 10 from the third area to the fourth area according to the second inter-field route that is set in advance for the road R0 that connects the third field and the fourth field. Furthermore, when at least a portion of the first inter-field route and at least a portion of the second inter-field route are set on the same road R0, and one of the first work vehicle 10 and the second work vehicle 10 obstructs the travel of the other, the automated driving system 1 causes at least one of the first work vehicle 10 and the second work vehicle 10 to perform an avoidance operation based on at least one of route information about the inter-field route, work information about the work content in each field, and road information about road R0.

[0134] According to the above configuration, the work vehicle 10 is caused to perform avoidance operations based on at least one of the route information, the work information, and the road information, and therefore it is possible to prevent a decrease in the work efficiency of the work vehicle 10 compared to a configuration in which the work vehicle 10 is uniformly stopped temporarily within the field. Note that the second field and the fourth field may be the same field, i.e., the destination of the first work vehicle 10 and the destination of the second work vehicle 10 may be the same.

[0135] In another embodiment of the present invention, the control unit 21 may set a position where the work vehicle 10 will perform an avoidance operation based on a selection operation by the operator. For example, as shown in FIG. 13 , the control unit 21 displays a plurality of selectable waiting positions on the operation screen D1 of the operation terminal 30 and accepts the selection operation from the operator. When the operator selects one of the waiting positions as an avoidance position for the work vehicle 10b, the control unit 21 sets the selected waiting position as the position where the work vehicle 10b will perform an avoidance operation (avoidance position). Furthermore, the control unit 21 may present (recommend) to the operator the optimal waiting position from among the plurality of waiting positions based on at least one of the route information, the work information, and the road information.

[0136] In another embodiment, for example, when three or more work vehicles 10 are in a conflicting state, the control unit 21 may determine the order in which the work vehicles 10 should be prioritized for driving based on at least one of the route information, the work information, and the road information, and cause the work vehicles 10 to perform automatic driving and avoidance operations according to the order. For example, of the three work vehicles 10x, 10y, and 10z, the work vehicle 10x that needs to perform work first is given top priority and is caused to perform automatic driving, and the other two work vehicles 10y and 10z are caused to perform avoidance operations. Once the conflict with the work vehicle 10x is resolved, the work vehicle 10y that needs to perform work first is given top priority and is caused to perform automatic driving, and the work vehicle 10z is caused to perform avoidance operations. This prevents a decrease in the work efficiency of the three work vehicles 10.

[0137] In another embodiment, when multiple work vehicles 10 are in a conflict state, the control unit 21 may cause the work vehicle 10 that requires fewer avoidance operations to perform avoidance operations, and cause the work vehicle 10 that requires more avoidance operations to travel automatically.

[0138] In the above-described embodiment, the management device 20 (e.g., a cloud server) is configured to manage and control the travel of multiple work vehicles 10, but the present invention is not limited to this. For example, each work vehicle 10 may be equipped with the functions of the travel processing unit 211 and avoidance processing unit 212 of the management device 20. In this configuration, each work vehicle 10 may perform data communication with other work vehicles 10, compare their route information and position information, and perform avoidance operations.

[0139] As described above, in the above-described embodiment, the automatic driving system 1 corresponds to the automatic driving system of the present invention, but the automatic driving system of the present invention may be configured by the management device 20 alone, or may be configured by the work vehicle 10 alone.

[0140] [Notes on the Invention] The following provides an outline of the invention extracted from each embodiment of the notification process described above. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0141] <Appendix 1> automatically traveling a first work vehicle from the first area to the second area according to a first inter-area route that is set in advance for a connecting road that connects the first area and the second area; automatically traveling a second work vehicle from the third area to the fourth area according to a second inter-area route that is set in advance for a connecting road that connects each of the third area and the fourth area; when at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting route, and one of the first work vehicle and the second work vehicle obstructs the travel of the other, causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content within each area, and connecting route information regarding the connecting route; An automated driving method that performs the above.

[0142] <Appendix 2> when an entrance of the first work vehicle in the second area is located on the side of an exit of the second work vehicle in the third area in a traveling direction of the second work vehicle, causing the second work vehicle to perform an avoidance operation on the second inter-area path. 1. The automated driving method according to claim 1.

[0143] <Appendix 3> causing the second work vehicle to perform an avoidance operation within the third area when a start position of the second inter-area route is located on the first inter-area route; 10. The automated driving method according to claim 1 or 2.

[0144] <Appendix 4> When the same connecting road has a width that allows the first work vehicle and the second work vehicle to pass each other, at least one of the first work vehicle and the second work vehicle is caused to travel at a reduced speed. 4. The automatic driving method according to any one of appendices 1 to 3.

[0145] <Appendix 5> causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation at an intersection on the same connecting road. 5. The automatic driving method according to any one of appendices 1 to 4.

[0146] <Appendix 6> causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation in an evacuation area of ​​the same connecting road where the work vehicles can evacuate; 6. An automatic driving method according to any one of appendices 1 to 5.

[0147] <Appendix 7> When the entrance of the first work vehicle in the second area is located closer to the third area in the direction of travel of the second work vehicle than the exit of the second work vehicle in the third area, and when the current position of the second work vehicle is closer to the third area than the entrance of the second area at the time the first work vehicle starts autonomous traveling on the first inter-area route, the second work vehicle is caused to perform an avoidance operation at a position on the second inter-area route closer to the third area than the entrance of the second area. 7. The automatic driving method according to any one of appendices 1 to 6.

[0148] <Appendix 8> determining which of the first work vehicle and the second work vehicle is to perform an avoidance operation based on the work content of each of the first work vehicle and the second work vehicle; An automatic driving method according to any one of appendices 1 to 7.

[0149] <Appendix 9> determining which of the first work vehicle and the second work vehicle will perform an avoidance operation based on the progress of work by each of the first work vehicle and the second work vehicle; An automatic driving method according to any one of appendices 1 to 8.

[0150] <Appendix 10> a position at which at least one of the first work vehicle and the second work vehicle is caused to perform an avoidance operation is set based on a selection operation by a user; An automatic driving method according to any one of appendices 1 to 9. [Explanation of symbols]

[0151] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 20: Management device 21: Control unit 30: Operation terminal 211: Driving processing unit 212: Avoidance processing unit A1: Evacuation area D1: Settings screen F: Field (1st area ~ 4th area) R0: Road (connecting road) R1: Target route R7: Target route R17: Inter-field route (inter-area route) R18: Inter-field route (inter-area route) R75: Inter-field route (inter-area route) R76: Inter-field route (inter-area route) R85: Inter-field route (inter-area route) H1~H8: Entrances (to the field)

Claims

1. automatically traveling a first work vehicle from the first area to the second area according to a first inter-area route that is set in advance for a connecting road that connects each of the first area and the second area; automatically traveling a second work vehicle from the third area to the fourth area according to a second inter-area route that is set in advance for a connecting road that connects the third area and the fourth area; When at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting route, and one of the first work vehicle and the second work vehicle obstructs the travel of the other, causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content in each area, and connecting route information regarding the connecting route; Run An autonomous driving method that causes the second work vehicle to perform an avoidance operation on the second inter-area route when the entrance of the first work vehicle in the second area is located on the side of the second work vehicle's direction of travel relative to the exit of the second work vehicle in the third area.

2. Automatically driving a first work vehicle from the first area to the second area according to a first inter-area route that is pre-set for a connecting road that connects each of the first area and the second area; automatically traveling a second work vehicle from the third area to the fourth area according to a second inter-area route that is set in advance for a connecting road that connects the third area and the fourth area; When at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting route, and one of the first work vehicle and the second work vehicle obstructs the travel of the other, causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content in each area, and connecting route information regarding the connecting route; Run An automated driving method that causes at least one of the first work vehicle and the second work vehicle to perform an avoidance operation at an intersection on the same connecting road.

3. Automatically driving a first work vehicle from the first area to the second area according to a first inter-area route that is pre-set for a connecting road that connects each of the first area and the second area; automatically traveling a second work vehicle from the third area to the fourth area according to a second inter-area route that is set in advance for a connecting road that connects the third area and the fourth area; When at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting route, and one of the first work vehicle and the second work vehicle obstructs the travel of the other, causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content in each area, and connecting route information regarding the connecting route; Run An automated driving method that causes at least one of the first work vehicle and the second work vehicle to perform an avoidance operation in an evacuation area of ​​the same connecting road where the work vehicles can evacuate.

4. Automatically driving a first work vehicle from the first area to the second area according to a first inter-area route that is pre-set for a connecting road that connects each of the first area and the second area; automatically traveling a second work vehicle from the third area to the fourth area according to a second inter-area route that is set in advance for a connecting road that connects the third area and the fourth area; When at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting route, and one of the first work vehicle and the second work vehicle obstructs the travel of the other, causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content in each area, and connecting route information regarding the connecting route; Run An automatic driving method in which, when the entrance of the first work vehicle in the second area is located closer to the direction of travel of the second work vehicle than the exit of the second work vehicle in the third area, and when the current position of the second work vehicle is closer to the third area than the entrance of the second area at the time the first work vehicle starts automatic driving on the first inter-area route, the second work vehicle is made to perform an avoidance operation at a position on the second inter-area route that is closer to the third area than the entrance of the second area.

5. Automatically driving a first work vehicle from the first area to the second area according to a first inter-area route that is pre-set for a connecting road that connects each of the first area and the second area; automatically traveling a second work vehicle from the third area to the fourth area according to a second inter-area route that is set in advance for a connecting road that connects the third area and the fourth area; When at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting route, and one of the first work vehicle and the second work vehicle obstructs the travel of the other, causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content in each area, and connecting route information regarding the connecting route; Run An automated driving method, comprising: setting a position at which at least one of the first work vehicle and the second work vehicle is caused to perform an avoidance operation based on a selection operation by a user.

6. determining which of the first work vehicle and the second work vehicle is to perform an avoidance operation based on the work content of each of the first work vehicle and the second work vehicle; The automatic driving method according to any one of claims 1 to 5.

7. determining which of the first work vehicle and the second work vehicle is to perform an avoidance operation based on the progress of work by each of the first work vehicle and the second work vehicle; The automatic driving method according to any one of claims 1 to 5.

8. a position at which at least one of the first work vehicle and the second work vehicle is caused to perform an avoidance operation is set based on a selection operation by a user; The automatic driving method according to any one of claims 1 to 4.

9. a driving processing unit that automatically drives a first work vehicle from the first area to the second area according to a first inter-area route that is preset for a connecting road that connects each of the first and second areas, and automatically drives a second work vehicle from the third area to the fourth area according to a second inter-area route that is preset for a connecting road that connects each of the third and fourth areas; an avoidance processing unit that, when at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting route and one of the first work vehicle and the second work vehicle obstructs the travel of the other, causes at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content within each area, and connecting route information regarding the connecting route; Equipped with The avoidance processing unit causes the second work vehicle to perform an avoidance operation on the second inter-area route when the entrance of the first work vehicle in the second area is located on the side of the second work vehicle's direction of travel relative to the exit of the second work vehicle in the third area.

10. automatically traveling a first work vehicle from the first area to the second area according to a first inter-area route that is set in advance for a connecting road that connects each of the first area and the second area; automatically traveling a second work vehicle from the third area to the fourth area according to a second inter-area route that is set in advance for a connecting road that connects the third area and the fourth area; When at least a portion of the first inter-area route and at least a portion of the second inter-area route are set to the same connecting route, and one of the first work vehicle and the second work vehicle obstructs the travel of the other, causing at least one of the first work vehicle and the second work vehicle to perform an avoidance operation based on at least one of route information regarding the inter-area route, work information regarding the work content in each area, and connecting route information regarding the connecting route; on one or more processors, An automated driving program that causes the second work vehicle to perform an avoidance operation on the second inter-area route when the entrance of the first work vehicle in the second area is located closer to the direction of travel of the second work vehicle than the exit of the second work vehicle in the third area.

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