Driving control method, driving control system, and driving control program

Abstract

To provide a travel control method, a travel control system, and a travel control program capable of switching automatic travel to manual travel appropriately.SOLUTION: A receiving processing part 112 receives a user operation for an operation tool which makes a work vehicle 10 perform a predetermined action. A motion processing part 114 makes the work vehicle 10 perform an action corresponding to the user operation for the operation tool. A travel processing part 111 switches automatic travel to manual travel when the amount of change related to the operation tool corresponding to the user operation exceeds a threshold value while the work vehicle 10 is automatically travelling. A setting processing part 116 sets the threshold on the basis of at least one of setting information and work information of the work vehicle 10.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a travel control method, a travel control system, and a travel control program for driving a work vehicle.

Background Art

[0002] Conventionally, as a work vehicle capable of autonomous driving, there is known a work vehicle that performs autonomous driving only when going straight and travels (manual driving) according to manual steering (manual operation) by an operator when turning. For example, there is known a technique for switching from autonomous driving to manual driving when the steering device is operated by the operator while the work vehicle is in autonomous driving (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the conventional technique has a configuration in which autonomous driving is switched to manual driving by detecting the steering state of the steering device, when the steering direction of the steering device changes at a location unintended by the operator while the work vehicle is in autonomous driving, there arises a problem that it switches to manual driving.

[0005] An object of the present invention is to provide a travel control method, a travel control system, and a travel control program capable of appropriately switching from autonomous driving to manual driving.

Means for Solving the Problems

[0006] The driving control method according to the present invention is a method for controlling the driving of a work vehicle that can switch between automatic driving with automatic steering and manual driving with manual steering by a user. The driving control method performs the following actions: receiving a user operation on an operating device that causes the work vehicle to perform a predetermined operation; causing the work vehicle to perform an operation corresponding to the user operation on the operating device; switching from automatic driving to manual driving when the amount of change related to the operating device in response to the user operation exceeds a threshold while the work vehicle is driving automatically; and setting the threshold based on at least one of the setting information and work information of the work vehicle.

[0007] The driving control system according to the present invention is a system for controlling the driving of a work vehicle that can switch between automatic driving with automatic steering and manual driving with manual steering by the user. The reception processing unit receives user input on an operating device that causes the work vehicle to perform a predetermined action. The action processing unit causes the work vehicle to perform an action corresponding to the user input on the operating device. The driving processing unit switches the work vehicle from automatic driving to manual driving when the amount of change related to the operating device in response to the user input exceeds a threshold while the work vehicle is driving automatically. The setting processing unit sets the threshold based on at least one of the setting information and work information of the work vehicle.

[0008] The driving control program according to the present invention is a program that controls the driving of a work vehicle that can switch between automatic driving with automatic steering and manual driving with manual steering by the user. The driving control program is a program that causes one or more processors to perform the following actions: receiving user operation on an operating device that causes the work vehicle to perform a predetermined action; causing the work vehicle to perform an action corresponding to the user operation on the operating device; switching from automatic driving to manual driving when the amount of change related to the operating device in response to the user operation exceeds a threshold while the work vehicle is driving automatically; and setting the threshold based on at least one of the setting information and work information of the work vehicle. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a driving control method, a driving control system, and a driving control program that can appropriately switch between automatic driving and manual driving. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram showing the configuration of a work vehicle according to an embodiment of the present invention. [Figure 2A] Figure 2A is a side view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 2B] Figure 2B is a top view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 is an external view showing an example of an operating device according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 5A] Figure 5A shows an example of a path generation method according to an embodiment of the present invention. [Figure 5B] Figure 5B shows an example of a route generation method according to an embodiment of the present invention. [Figure 5C] Figure 5C shows an example of a path generation method according to an embodiment of the present invention. [Figure 6A] Figure 6A shows an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 6B] Figure 6B shows an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 7A] Figure 7A shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 7B] Figure 7B shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 7C] Figure 7C shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 8B] FIG. 8B is a diagram showing an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing an example of a procedure of travel control processing executed in a work vehicle according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a setting screen displayed on an operating device according to another embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a setting screen displayed on an operating device according to another embodiment of the present invention.

MODE FOR CARRYING OUT THE INVENTION

[0011] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0012] An automated driving system according to an embodiment of the present invention includes a work vehicle 10, a satellite (not shown), and a base station (not shown). In this embodiment, the case where the work vehicle 10 is a rice transplanter will be used as an example for explanation. In other embodiments, the work vehicle 10 may be a tractor, combine harvester, construction machinery, or snowplow. The work vehicle 10 travels within a field F (see Figure 4) according to a target path R in response to the operator's (user's) input, performing predetermined tasks (e.g., planting). Specifically, the work vehicle 10 travels in a straight line along the target path R in response to automatic steering, and turns in response to manual steering (driving operation) by the operator. The work vehicle 10 travels within the field F and performs tasks while switching between automatic driving on the straight path and manual driving on the turning path. The target path R may be generated in advance based on the operator's input and stored as path data.

[0013] The work vehicle 10 travels through field F, for example as shown in Figure 4, alternating between straight-line travel and turning until the work is completed. Each of the multiple straight-line paths is approximately parallel to the others. The target path R shown in Figure 4 is just one example, and the target path R is determined appropriately according to the size of the work vehicle 10, the size of the implement 14, the work content, the shape of field F, etc.

[0014] The automated driving system may also include an operator-operated control terminal (such as a tablet or smartphone). This control terminal can communicate with the work vehicle 10 via a communication network such as a mobile phone network, packet network, or wireless LAN. For example, the operator can register various information (such as work vehicle information, field information, and work information) on the control terminal. Furthermore, the operator can monitor the driving status and work status of the work vehicle 10 from a location away from the work vehicle 10 by viewing the driving trajectory displayed on the control terminal.

[0015] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a running device 13, a work machine 14, a communication unit 15, a positioning device 16, an operating device 17, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the running device 13, the work machine 14, the positioning device 16, the operating device 17, and the like. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication. Furthermore, the vehicle control device 11 and the operating device 17 may be capable of wireless communication.

[0016] First, an example of a work vehicle 10, a rice transplanter, will be described with reference to Figures 2A and 2B. Figure 2A is a side view of the work vehicle 10 (rice transplanter), and Figure 2B is a top view of the work vehicle 10. The work vehicle 10 includes a body 30, a pair of front wheels 132, a pair of rear wheels 133, a work implement 14 (planting unit), and the like.

[0017] An engine (drive unit) 131 is located inside a bonnet 134 positioned at the front of the vehicle body 30. The power generated by the engine 131 is transmitted to the front wheels 132 and rear wheels 133 via a transmission case 135. The power transmitted via the transmission case 135 is also transmitted to the work implement 14 via a PTO shaft 37 located at the rear of the vehicle body 30. Power is transmitted to the PTO shaft 37 via a PTO clutch (work clutch) (not shown). An operator's seat 138 is provided in the vehicle body 30 between the front wheels 132 and the rear wheels 133 in the longitudinal direction.

[0018] In front of the driver's seat 138 are controls such as a steering wheel 137 (see Figure 3), a gear shift lever 13L (see Figure 3), and a PTO clutch lever 14L (see Figure 2B). The steering wheel 137 is a control device for changing the steering angle of the work vehicle 10. The gear shift lever 13L is configured to allow selection of at least the following positions: "forward," "reverse," "neutral," and "seedling transfer." When the gear shift lever 13L is operated to the "forward" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in the direction of moving the work vehicle 10 forward. When the gear shift lever 13L is operated to the "reverse" position, power is driven so that the front wheels 132 and rear wheels 133 rotate in the direction of moving the work vehicle 10 backward. When the main gear shift lever is operated to the "neutral" position, the transmission of power to the front wheels 132 and rear wheels 133 is cut off. When the gear shift lever 13L is operated to the "seedling splice" position, the transmission of power to the front wheel 132, rear wheel 133, and PTO shaft 37 is interrupted. Furthermore, by operating the PTO clutch lever 14L, it is possible to switch between a transmission state in which the PTO clutch transmits power to the PTO shaft 37 (i.e., the implement 14) and a disconnected state in which the PTO clutch does not transmit power to the PTO shaft 37 (i.e., the implement 14).

[0019] The work implement 14 is connected to the rear of the vehicle body 30 via a lifting link mechanism 31. The lifting link mechanism 31 is composed of a parallel link structure including a top link 39 and a lower link 38. A lifting cylinder 32 is connected to the lower link 38. By extending and retracting the lifting cylinder 32, the entire work implement 14 can be raised and lowered. This allows the height of the work implement 14 to be changed between a lowered position for planting work and an elevated position where planting work is not performed. The lifting cylinder 32 is a hydraulic cylinder, but an electric cylinder may also be used. Alternatively, the work implement 14 may be raised and lowered using an actuator other than a cylinder.

[0020] The work machine 14 (planting unit) is equipped with a planting input case 33, multiple planting units 34, a seedling tray 35, multiple floats 36, and the like.

[0021] Each planting unit 34 is equipped with a planting transmission case 41 and a rotating case 42. Power is transmitted to the planting transmission case 41 via a PTO shaft 37 and a planting input case 33. Rotating cases 42 are attached to both sides of each planting transmission case 41 in the vehicle width direction. Two planting claws 43 are attached to each rotating case 42, aligned in the direction of travel of the work vehicle 10. These two planting claws 43 are used to plant one row.

[0022] As shown in Figure 2A, the seedling tray 35 is positioned in front of and above the planting unit 34 and is configured to hold seedling mats. The seedling tray 35 is configured to move laterally in a reciprocating motion (slide in the lateral direction). In addition, the seedling tray 35 is configured to intermittently transport the seedling mats vertically downwards at the end of its reciprocating motion. This configuration allows the seedling tray 35 to supply seedlings from the seedling mats to each planting unit 34. In this way, the work vehicle 10 can sequentially supply seedlings to each planting unit 34 and continuously plant seedlings.

[0023] The float 36 shown in Figure 2A is installed at the bottom of the implement 14 and is positioned so that its underside can make contact with the ground. When the float 36 makes contact with the ground, the field surface is leveled before planting seedlings. The float 36 is also equipped with a float sensor (not shown) that detects the oscillation angle of the float 36. The oscillation angle of the float 36 corresponds to the distance between the field surface and the implement 14. The work vehicle 10 can maintain a constant height of the implement 14 from the ground by operating the lifting cylinder 32 based on the oscillation angle of the float 36 to raise and lower the implement 14.

[0024] The spare seedling tray 19 is located on the outside of the bonnet 134 in the vehicle width direction and can accommodate seedling trays containing spare mat seedlings. The upper parts of the pair of spare seedling trays 19 are connected to each other by a connecting frame 18 that extends in the vertical and vehicle width directions. A positioning device 16 is located in the center of the connecting frame 18 in the vehicle width direction.

[0025] As shown in Figure 1, the positioning device 16 includes a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164, among other things.

[0026] The positioning control unit 161 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a positioning control program for causing the positioning control unit 161 to perform positioning processing, and data such as positioning information and movement information. For example, the positioning control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 162. Alternatively, the positioning control program may be downloaded from a server (not shown) to the positioning device 16 via a communication network and stored in the storage unit 162.

[0027] The communication unit 163 is a communication interface for connecting the positioning device 16 to a communication network by wire or wireless connection and for performing data communication with external devices such as base station servers via the communication network in accordance with a predetermined communication protocol.

[0028] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0029] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is automatically driving in field F, the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 161 then 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. Alternatively, the positioning control unit 161 may 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 automatically drives 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 it may be a position shifted from the positioning position.

[0030] The communication unit 15 is a communication interface for connecting the work vehicle 10 to a communication network by wire or wireless means, and for performing data communication with external devices (such as an operating terminal) via the communication network in accordance with a predetermined communication protocol.

[0031] 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 a driving control program, which causes the vehicle control device 11 to execute driving control processing (see Figure 9), including automatic driving processing and manual driving processing. For example, the driving control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Alternatively, the driving control program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network and stored in the storage unit 12. The storage unit 12 may also store data of the target route R generated by the operating device 17.

[0032] The control device 17 is operated by an operator riding in the work vehicle 10, and displays various information and accepts operator input. Specifically, the control device 17 displays various setting screens to accept various setting operations from the operator, and displays information related to the work vehicle 10 while it is in motion.

[0033] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various operations performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing various control programs stored in advance in the ROM or memory unit 12 using the CPU. The vehicle control device 11 also uses the CPU to perform various operations according to the driving control program.

[0034] As shown in Figure 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111, a reception processing unit 112, a display processing unit 113, an operation processing unit 114, a determination processing unit 115, and a setting processing unit 116. The vehicle control device 11 functions as these various processing units by executing various processes according to the driving control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The driving control program may be a program that causes multiple processors to function as processing units.

[0035] The driving processing unit 111 controls the movement of the work vehicle 10. Specifically, when the driving mode of the work vehicle 10 is manual driving (manual driving mode), the driving processing unit 111 manually drives the work vehicle 10 based on the operator's operation (manual steering). For example, the driving processing unit 111 acquires operation information corresponding to driving operations by the operator, such as steering wheel operation, gear shifting operation, accelerator operation, and brake operation, and causes the driving device 13 to execute a driving operation based on this operation information.

[0036] Furthermore, when the work vehicle 10 is in automatic driving mode, the driving processing unit 111 causes the work vehicle 10 to drive automatically based on position information (positioning information) indicating the current position of the work vehicle 10, which is determined by the positioning control unit 161. For example, when the work vehicle 10 meets the conditions for starting automatic driving and the driving processing unit 111 receives a driving start instruction from the operator, it starts the automatic driving of the work vehicle 10 based on the positioning information. The driving processing unit 111 also causes the work vehicle 10 to drive automatically according to a pre-generated target route R (straight route).

[0037] Here, a specific example of automated driving according to this embodiment will be described with reference to Figures 5 and 6. In this embodiment, the work vehicle 10 is made to automatically travel along a straight path in the field F shown in Figure 4. For example, the target path R for automated driving is generated in the operating device 17.

[0038] First, the operator sets a reference line L1 to generate a straight path, which is the target path R. For example, the operator manually drives the work vehicle 10 in the direction in which they want the work vehicle 10 to travel and work (target direction) at an arbitrary position within the field F (e.g., the outer edge). Specifically, the operator manually steers the work vehicle 10 in a straight line parallel to the working direction (e.g., planting direction) when the work vehicle 10 is working in the work area. Then, while the operator is manually driving the work vehicle 10 in the intended target direction, the operator operates the control device 17 twice (e.g., by touch operation) at an arbitrary position (e.g., the front or rear edge of the work area). The control device 17 registers the position of the work vehicle 10 (point A) with the operator's first operation, and registers the position of the work vehicle 10 (point B) with the operator's second operation. When the control device 17 acquires the position information of points A and B, it sets a straight line passing through points A and B as the reference line L1 (see Figure 5A). Furthermore, the operating device 17 may be configured to allow registration of point B after point A has been registered and the work vehicle 10 has traveled a predetermined distance (for example, 5 m). This allows for the setting of a more accurate reference line L1.

[0039] The operating device 17 generates a travel path (target path R) that includes a reference line L1 and multiple straight lines parallel to the reference line L1. For example, the operating device 17 generates multiple parallel straight lines at equal intervals to the left and right of the reference line L1 based on a preset work width (width of the work machine 14) and overlap width (width overlapping with adjacent completed work areas) (see Figure 5B). The operating device 17 registers the generated target path R in the storage unit 12 and displays it on the operation display unit 171.

[0040] After the target path R is generated, when the operator wants to drive the work vehicle 10 in a straight line within the field F using automatic steering, the operator moves the work vehicle 10 by manual steering while looking at the target path R displayed on the control device 17, so that the direction (bearing) of the work vehicle 10 is within a predetermined range (predetermined bearing) relative to the direction of the reference line L1 (satisfying the automatic driving start condition) (see Figure 5C).

[0041] Figure 6A shows an operation screen indicating that the work vehicle 10 has met the conditions for starting automatic driving and is ready for automatic driving. When the work vehicle 10 meets the conditions for starting automatic driving, the operation device 17 displays the operation screen shown in Figure 6A on the operation display unit 171. When the work vehicle 10 is ready for automatic driving, the operator presses the automatic driving button (not shown) on the operation display unit 171 to give a driving start command. When the operation device 17 receives the driving start command from the operator, the driving processing unit 111 of the vehicle control device 11 starts automatic steering of the work vehicle 10 so that it follows the straight path closest to the current position P0 (see Figure 5C). As a result, the driving processing unit 111 makes the work vehicle 10 automatically drive along the straight path by automatic steering.

[0042] Figure 6B shows the display screen while the work vehicle 10 is automatically driving. When the work vehicle 10 starts automatically driving, the operating device 17 displays the display screen shown in Figure 6B on the operating display unit 171. The operating device 17 displays the straight-ahead route, completed work area (work status), etc. on the display screen.

[0043] As described above, the operating device 17 generates a target route R for automatic driving, and the vehicle control device 11 causes the work vehicle 10 to perform automatic driving according to the target route R.

[0044] Furthermore, when the work vehicle 10 is traveling in a straight line by automatic steering and approaches the terminal Pe (the intersection point of the perpendicular line passing through point B to the reference line L1 and the straight path (straight line)) (see Figure 5C) corresponding to point B on the reference line L1, the control device 17 notifies the operator of guidance information (message display, voice guidance, etc.) indicating that it is approaching the terminal Pe. After the operator confirms the guidance information, the automatic steering is terminated.

[0045] Furthermore, the driving processing unit 111 switches the driving mode to manual driving when the work vehicle 10 reaches the end point Pe (end of the straight path). The driving processing unit 111 switches the driving mode to manual driving in response to the operator's operation. When the driving mode is switched to manual driving, for example, the operator makes the work vehicle 10 turn (manual driving) by manually steering.

[0046] As described above, the driving processing unit 111 automatically drives the work vehicle 10 along a straight path (target path R) by automatic steering, and manually drives it along a turning path by manual steering.

[0047] Incidentally, there is a known technique for switching from automatic driving to manual driving when the steering device (e.g., steering wheel 137) is operated by an operator while the work vehicle 10 is driving automatically. This simplifies the operation of switching from automatic driving to manual driving. However, the conventional technique switches from automatic driving to manual driving by detecting the steering state of the steering device, which creates a problem where the work vehicle 10 switches to manual driving if the steering direction of the steering device changes in a place unintended by the operator while the work vehicle 10 is driving automatically. In contrast, the work vehicle 10 according to this embodiment has a configuration that allows for appropriate switching from automatic driving to manual driving, as shown below.

[0048] Specifically, the reception processing unit 112 receives operator input for control devices that cause the work vehicle 10 to perform predetermined actions. These control devices include a steering wheel 137 (steering device), a gear shift lever 13L (gear shifter), a PTO clutch lever 14L, a lifting lever (lifting device), a shift lever, and an accelerator.

[0049] The motion processing unit 114 causes the work vehicle 10 to perform actions in response to the operator's operation of the control device. For example, the motion processing unit 114 controls the direction of travel (steering angle) of the work vehicle 10 in response to the operator's operation (steering operation) of the steering wheel 137. Also, for example, the motion processing unit 114 controls the transmission of power to the work implement 14 in response to the operator's operation (engagement operation, disengagement operation) of the PTO clutch lever 14L. Also, for example, the motion processing unit 114 controls the lifting and lowering operation of the work implement 14 in response to the operator's operation (lifting and lowering operation) of the lifting and lowering lever.

[0050] The driving processing unit 111 switches between automatic and manual driving of the work vehicle 10 based on the operator's operation of the control device. Specifically, when the driving processing unit 111 receives a first operation from the operator on the control device, it starts automatic driving of the work vehicle 10, and when the operator receives a second operation from the operator on the control device, it stops automatic driving of the work vehicle 10 and switches to manual driving. For example, when the operator engages the PTO clutch using the PTO clutch lever 14L (an example of a first operation) and the reception processing unit 112 receives this operation, the driving processing unit 111 starts automatic driving of the work vehicle 10. Also, for example, when the operator steers the steering wheel 137 by a predetermined amount (an example of a second operation) and the reception processing unit 112 receives this operation, the driving processing unit 111 stops automatic driving of the work vehicle 10 and switches to manual driving.

[0051] Thus, when the operator engages the PTO clutch, the motion processing unit 114 switches the work implement 14 to a driving state (transmission state), and the travel processing unit 111 starts the automatic travel of the work vehicle 10. On the other hand, when the operator steers the steering wheel 137 by a predetermined amount, the motion processing unit 114 changes the direction of travel of the work vehicle 10, and the travel processing unit 111 makes the work vehicle 10 manually travel (stop automatic travel).

[0052] When the vehicle control device 11 receives a first operation from the operator for a predetermined operating tool, it causes the work vehicle 10 to perform a first operation corresponding to the operating tool and to start automatic driving. When the vehicle control device 11 receives a second operation from the operator for the operating tool, it causes the work vehicle 10 to perform a second operation corresponding to the operating tool and to start manual driving (stop automatic driving). In other words, in the work vehicle 10 according to this embodiment, the operating tool may have both a function to receive instructions for the operation that the operating tool is originally supposed to perform and a function to receive instructions to switch between automatic driving and manual driving (driving mode switching function). Furthermore, the vehicle control device 11 may switch between automatic driving and manual driving in conjunction with the operator's operation of the operating tool.

[0053] With the above configuration, for example, when performing work on a work path (straight path), the operator can switch from manual to automatic driving and perform work with the work implement 14 by operating the PTO clutch lever 14L. Also, when the operator makes the work vehicle 10 turn on a non-work path (turning path), the operator can switch from automatic to manual driving and perform the turning operation of the work vehicle 10 by operating the steering wheel 137. Therefore, for example, the operator can omit the operation of pressing buttons to start and stop automatic driving, thereby improving operability.

[0054] Next, the specific configuration of the second operation for switching from automatic to manual driving will be described. The operator performs the second operation when switching the work vehicle 10 from automatic to manual driving.

[0055] Specifically, the determination processing unit 115 determines whether the amount of change related to the operating tool in response to the second operation by the operator exceeds a threshold while the work vehicle 10 is automatically driving. If the determination processing unit 115 determines that the amount of change related to the operating tool exceeds a threshold, the driving processing unit 111 switches from automatic driving to manual driving.

[0056] For example, when the work vehicle 10 automatically travels along the straight path of the target path R and approaches the end of the straight path Pe (see Figure 5C), and signals guidance information, the operator decelerates the vehicle speed and steers the steering wheel 137 toward the next straight path. The determination processing unit 115 determines whether the change in the steering direction and operation time of the steering wheel 137 exceeds a threshold.

[0057] For example, the driving processing unit 111 determines that the amount of change in the steering wheel 137 exceeds a threshold when the steering direction by the operator relative to the steering wheel 137 is different from the steering direction that is automatically steered in accordance with automatic driving, and a predetermined time has elapsed since the steering in that different direction.

[0058] Here, the setting processing unit 116 sets the threshold value of the change amount based on the setting information of the work vehicle 10. Specifically, the setting processing unit 116 sets the threshold value according to the speed of the work vehicle 10. For example, the setting processing unit 116 sets a first threshold value when the speed of the work vehicle 10 is high, and sets a second threshold value smaller than the first threshold value when the speed of the work vehicle 10 is low. The speed of the work vehicle 10 is an example of the setting information of the present invention.

[0059] In this case, when the work vehicle 10 is automatically traveling at high speed (first vehicle speed), the travel processing unit 111 switches from automatic travel to manual travel when the amount of change of the steering wheel 137 in response to the operator's input exceeds the first threshold. As a result, for example, when the work vehicle 10 is automatically traveling along the straight path of the target path R while performing work, even if the operator steers the steering wheel 137 slightly, automatic travel is maintained without switching to manual travel.

[0060] In contrast, when the work vehicle 10 is automatically traveling at a low speed (second vehicle speed), if the amount of change of the steering wheel 137 in response to the operator's operation exceeds the second threshold (second threshold < first threshold), the travel processing unit 111 switches from automatic travel to manual travel. This allows, for example, when approaching the end point Pe of the straight path of the target path R and the vehicle speed is switched to a low speed by the operator's deceleration operation (or automatic deceleration process), the operator can switch from automatic travel to manual travel by slightly steering the steering wheel 137. The amount of change of the steering wheel 137 is an example of the amount of change of the control device of the present invention.

[0061] Thus, the vehicle control device 11 is configured to change the threshold value of the change amount for switching from automatic driving to manual driving according to the vehicle speed, rather than fixing it to a constant value. With this configuration, it is possible to prevent the work vehicle 10 from switching to manual driving at a location unintended by the operator while it is working while automatically driving along the work path according to the target path R. Furthermore, with the above configuration, the operator can automatically switch to manual driving by decelerating the vehicle speed and performing a turning operation (steering the steering wheel 137) to move the work vehicle 10 to the next work path. Therefore, it is possible to appropriately switch from automatic driving to manual driving and to improve operability when switching driving modes.

[0062] In another embodiment, the setting processing unit 116 may set the threshold value of the change amount to a smaller value as the speed of the work vehicle 10 decreases. For example, the setting processing unit 116 may set the threshold value to decrease gradually or sequentially as the speed of the work vehicle 10 decreases.

[0063] The amount of change in the steering wheel 137 may be the amount of change in at least one of the steering direction, operating time, operating amount (steering angle), and operating torque of the steering wheel 137. For example, if the amount of operation (steering angle) of the steering wheel 137 by the operator exceeds a first threshold while the work vehicle 10 is automatically traveling at high speed, the automatic travel is stopped or switched to manual travel. If the amount of operation (steering angle) of the steering wheel 137 by the operator exceeds a second threshold that is smaller than the first threshold while the work vehicle 10 is automatically traveling at low speed, the automatic travel is switched to manual travel.

[0064] Furthermore, for example, if the operator's operating torque on the steering wheel 137 exceeds a first threshold while the work vehicle 10 is automatically traveling at high speed, the system switches from automatic to manual travel. Similarly, if the operator's operating torque on the steering wheel 137 exceeds a second threshold (smaller than the first threshold) while the work vehicle 10 is automatically traveling at low speed, the system switches from automatic to manual travel. This ensures that, for example, when the vehicle is automatically traveling along a straight path of the target path R while performing work, even if the operator steers the steering wheel 137 with light force (operating load), automatic travel is maintained without switching to manual travel. In contrast, for example, when the vehicle speed is reduced to a low speed due to the operator's deceleration operation as it approaches the end of the straight path of the target path R, the operator can switch from automatic to manual travel by steering the steering wheel 137 with light force. In the case of a configuration where the travel mode is switched by operating torque, the vehicle control device 11 can perform the travel mode switching process using the detection result of the torque sensor that detects the operating torque.

[0065] The vehicle control device 11 may switch from automatic driving to manual driving based on the change in one of the following pieces of information: steering direction, operating time, operating amount (steering angle), and operating torque of the steering wheel 137, and a threshold corresponding to that piece of information. Alternatively, it may switch from automatic driving to manual driving based on the change in multiple pieces of this information and a threshold corresponding to each piece of information. In this invention, the change may be a physical change in the operating device (such as the amount of movement), or it may be a change in the aforementioned information (steering direction, operating time, operating amount, operating torque) caused by the operating device.

[0066] In other embodiments, the operating device may be a gear shift lever 13L or a gear shift pedal (not shown). Specifically, the vehicle control device 11 may switch from automatic driving to manual driving when the amount of change of the gear shift lever 13L exceeds a threshold. For example, the vehicle control device 11 may switch from automatic driving to manual driving when the amount of operation of the gear shift lever 13L or the amount of reduction of the vehicle speed by the gear shift lever 13L exceeds a threshold corresponding to the vehicle speed. This allows, for example, automatic driving to be maintained when the work vehicle 10 is decelerated from high speed to medium speed, and manual driving to be switched when the work vehicle 10 is decelerated from high speed to low speed. In yet another embodiment, the vehicle control device 11 may switch from automatic driving to manual driving on the condition that the vehicle speed of the work vehicle 10 is below a predetermined vehicle speed. The gear shift lever 13L is an example of an operating device of the present invention, and the amount of change of the gear shift lever 13L is an example of the amount of change of an operating device of the present invention.

[0067] In another embodiment, the vehicle control device 11 may switch from automatic driving to manual driving when the amount of change of the lifting lever of the work implement 14 exceeds a threshold. For example, the vehicle control device 11 may switch from automatic driving to manual driving when the amount of operation of the lifting lever or the amount of lowering of the work implement 14 by the lifting lever exceeds a threshold corresponding to the vehicle speed. This allows, for example, automatic driving to be maintained when the work vehicle 10 lowers the work implement 14 at high speed, and manual driving to be switched when the work vehicle 10 lowers the work implement 14 at low speed. The lifting lever is an example of an operating device of the present invention, and the amount of change of the lifting lever (the amount of lifting of the work implement 14) is an example of an amount of change of an operating device of the present invention.

[0068] As described above, when the driving mode is switched from automatic to manual driving, the operator makes the work vehicle 10 turn (manual driving) by manually steering. Then, when the operator positions the work vehicle 10 at the starting position of the next work path (straight path) and engages the PTO clutch with the PTO clutch lever 14L, the operation processing unit 114 puts the work implement 14 into a driving state (transmission state), and the driving processing unit 111 switches to automatic driving, making the work vehicle 10 automatically drive according to the target path R. In other words, the driving processing unit 111 switches from manual driving to automatic driving when it receives an operation to drive the work implement 14 while the work vehicle 10 is in manual driving mode.

[0069] In this case, when switching from manual driving to automatic driving, the setting processing unit 116 changes the threshold value of the change amount according to the vehicle speed of the work vehicle 10. Specifically, the setting processing unit 116 changes the second threshold value when switching to manual driving to the first threshold value when driving the work route at high speed. In another embodiment, the setting processing unit 116 may change the threshold value from the second threshold value to the first threshold value in a stepwise or gradual manner according to the amount of increase in the vehicle speed of the work vehicle 10 after switching to automatic driving.

[0070] Furthermore, when the driving processing unit 111 receives an operation from the operator to engage the PTO clutch, it may drive the work vehicle 10 a preset distance (less than approximately 6m), and then, after a certain period of time (approximately 1 second) has elapsed, it may start automatic driving. This allows the operator to correct the position and orientation of the work vehicle 10 until automatic driving starts, making it easier to ensure their own safety and improving work efficiency and safety.

[0071] In another embodiment, the reception processing unit 112 may receive a setting operation from the operator to set whether or not to link a first function, which executes a predetermined operation in response to the operator's operation of the control device, with a second function (driving mode switching function), which switches between automatic driving and manual driving in response to the operator's operation of the control device. In other words, the work vehicle 10 may be configured so that the operator can select whether or not to link the driving mode switching function with the operation of the control device.

[0072] For example, when an operator selects a setting menu on the menu screen (not shown) displayed on the operation display unit 171 of the operating device 17, the display processing unit 113 displays the setting screen P1 shown in Figure 7A. Among the multiple setting items displayed on the setting screen P1, item K1, "Automatic linkage of this machine operation," is an item for setting whether or not to link the driving mode switching function. When item K1 is "OFF," the driving mode switching function will not be linked to the operation of the operating tool. In this case, the operator presses the automatic driving button to start automatic driving.

[0073] When the operation of the control device is linked to the driving mode switching function, the operator selects item K1 on the setting screen P1 (by pressing the OK button). When the operator selects item K1, the display processing unit 113 displays the setting screen P2 shown in Figure 7B. When the operator selects "ON" on the setting screen P2, the reception processing unit 112 sets the driving mode switching function to ON, and the display processing unit 113 updates item K1 on the setting screen P1 to "ON" (see Figure 7C). As a result, the driving mode switching function is linked to the operation of the control device.

[0074] When item K1 is set to "ON", the driving mode switching function becomes linked to the operation of the control device. In this case, automatic driving starts when the operator engages the PTO clutch lever 14L, and manual driving starts (automatic driving stops) when the operator steers the steering wheel 137 until the amount of change exceeds the threshold.

[0075] According to the above configuration, the operator can choose whether or not to link the operation of the control device to the driving mode switching function. For example, an operator who wishes to initiate automatic driving using the automatic driving button can set item K1 to "OFF" (see Figure 7A) to disable the linkage of the driving mode switching function. On the other hand, an operator who wishes to initiate automatic driving in conjunction with the operation of the control device can set item K1 to "ON" (see Figure 7C) to enable the linkage of the driving mode switching function.

[0076] Furthermore, the display processing unit 113 may display information on the work screen P3 indicating whether or not the driving mode switching function is linked to the operation of the operating tool. Figures 8A and 8B show an example of the work screen P3 displayed on the operation display unit 171. When "Automatic linkage of this machine operation" on the setting screen P1 is set to "ON" (see Figure 7C) and the driving mode switching function is linked, the display processing unit 113 displays an icon image C1 on the work screen P3 indicating that the driving mode switching function is linked while the work vehicle 10 is in motion, as shown in Figure 8A. On the other hand, when "Automatic linkage of this machine operation" on the setting screen P1 is set to "OFF" (see Figure 7A) and the driving mode switching function is not linked, the display processing unit 113 does not display the icon image C1 on the work screen P3 while the work vehicle 10 is in motion, as shown in Figure 8B. The display processing unit 113 may illuminate or blink the icon image C1 when the driving mode switching function is activated, and turn off (gray out) the icon image C1 when the driving mode switching function is not activated. The display processing unit 113 may also change the display color of the icon image C1 depending on whether or not the driving mode switching function is activated.

[0077] Furthermore, the reception processing unit 112 may accept an operation by the operator to select whether or not to link the driving mode switching function on the work screen P3 (see Figures 8A and 8B). For example, the display processing unit 113 displays a selection section K3 on the work screen P3 for the operator to select whether or not to link the driving mode switching function. When the operator selects the selection section K3 on the work screen P3, the display processing unit 113 displays the setting screen P2 shown in Figure 7B and accepts the operator's selection operation. The operator can turn the linkage of the driving mode switching function ON / OFF on the work screen P3 while checking the work status.

[0078] Thus, the reception processing unit 112 may be configured to accept setting operations to select whether or not to link the driving mode switching function both before and after the start of work by the work vehicle 10. Here, when working on the entire field F, it is necessary to divide the area into a central area and a headland area and perform the work there. In such cases, work in the headland area requires high precision because it is close to the ridges. In this regard, with the above configuration, the operator's operability can be improved by turning on the linkage of the driving mode switching function only for the central area and turning off the linkage of the driving mode switching function for the headland area.

[0079] Furthermore, the work vehicle 10 may be equipped with a physical switch (not shown) that accepts the setting operation. This allows the operator to easily grasp the operating unit for the setting operation, thereby improving the operability of the setting operation.

[0080] The vehicle control device 11 may perform condition determination for starting automatic driving and perform notification processing when the conditions are met. The vehicle control device 11 may also have a preparation mode that waits for an automatic driving start operation by the operator based on the determination result, and an automatic driving priority mode that starts automatic driving automatically without waiting for an automatic driving start operation by the operator, and may accept a selection operation from the operator between the preparation mode and the automatic driving priority mode. With this configuration, if the operator sets it to the automatic driving priority mode, automatic driving will start automatically as soon as the predetermined conditions are met, so the operator does not need to perform an automatic driving start operation, improving operability. Furthermore, if the operator sets it to the preparation mode, by linking it with the driving mode switching function, the operator can perform work according to their preference, further improving work efficiency.

[0081] [Driving control processing] Hereinafter, an example of the driving control process performed by the vehicle control device 11 will be described with reference to Figure 9. The present invention may also be considered as an invention of a driving control method in which the vehicle control device 11 performs part or all of the driving control process, or as an invention of a driving control program for causing the vehicle control device 11 to perform part or all of the driving control method. Furthermore, one or more processors may perform the driving control process.

[0082] In the following, we will take as an example the case in which the operating device of the present invention is a PTO clutch lever 14L and a handle 137, and the driving mode switching function is linked to the PTO clutch lever 14L and the handle 137 (set to "Automatic linkage of this machine operation: ON") (see Figure 7C).

[0083] First, in step S1, the vehicle control device 11 determines whether the work vehicle 10 is in a state where it can automatically travel. For example, the vehicle control device 11 determines that the work vehicle 10 is in a state where it can automatically travel if it satisfies the conditions for starting automatic travel, such as the direction of the work vehicle 10 being within a predetermined direction. If the vehicle control device 11 determines that the work vehicle 10 is in a state where it can automatically travel (S1:Yes), it moves the process to step S2. The vehicle control device 11 waits until the work vehicle 10 is in a state where it can automatically travel (S1:No). In step S1, the work vehicle 10 moves to a position that satisfies the conditions for starting automatic travel according to the operator's manual steering, with the PTO clutch disengaged (power to the work implement 14 cut off).

[0084] Furthermore, if the work vehicle 10 is in a state where it can travel automatically (S1: Yes), the vehicle control device 11 may display a message on the operation display unit 171 indicating that it can travel automatically (see Figure 6A). This allows the operator to recognize that the work vehicle 10 is capable of traveling automatically.

[0085] In step S2, the vehicle control device 11 determines whether or not it has received an operation from the operator to engage the PTO clutch using the PTO clutch lever 14L. If the vehicle control device 11 has received an operation to engage the PTO clutch (S2: Yes), it proceeds to step S3. On the other hand, if the vehicle control device 11 has not received an operation from the operator to engage the PTO clutch (S2: No), it proceeds to step S6.

[0086] In step S3, the vehicle control device 11 automatically drives the work vehicle 10 according to the target path R. The target path R is, for example, a straight path parallel to the reference line L1 passing through points A and B registered by the operator's operation, and is generated by the operating device 17. When the vehicle control device 11 receives an operation from the operator to engage the PTO clutch, it starts automatically steering the work vehicle 10 to follow the straight path closest to the current position P0 among the multiple straight paths included in the target path R (see Figure 5C). As a result, the vehicle control device 11 automatically drives the work vehicle 10 along the straight path by automatic steering and also puts the work implement 14 into a driven state (power is transmitted to the work implement 14) to perform work (for example, planting work).

[0087] Next, in step S4, the vehicle control device 11 determines whether or not it has received a steering command (steering) for the steering wheel 137 from the operator. If the vehicle control device 11 receives a steering command for the steering wheel 137 from the operator (S4:Yes), it proceeds to step S5. For example, when the work vehicle 10 approaches the end of the straight path Pe (start of the turning path) (see Figure 5C), the operator decelerates the vehicle speed and steers the steering wheel 137 toward the next straight path. On the other hand, if the vehicle control device 11 does not receive a steering command for the steering wheel 137 from the operator (S4:No), it proceeds to step S3. The vehicle control device 11 continues the automatic driving process until it receives a steering command for the steering wheel 137 from the operator (S4:No).

[0088] In step S5, the vehicle control device 11 determines whether the amount of change of the steering wheel 137 exceeds a threshold. For example, the vehicle control device 11 determines whether the amount of change in the steering direction and operating time of the steering wheel 137 exceeds a threshold set according to the vehicle speed of the work vehicle 10. Here, the vehicle control device 11 sets a first threshold when the vehicle speed of the work vehicle 10 is high, and sets a second threshold smaller than the first threshold when the vehicle speed of the work vehicle 10 is low. The vehicle control device 11 may also set the threshold to a smaller value the slower the vehicle speed of the work vehicle 10 is.

[0089] If the amount of change in the steering wheel 137 exceeds a threshold (first threshold or second threshold) corresponding to the vehicle speed (S5:Yes), the vehicle control device 11 proceeds to step S6. On the other hand, if the amount of change in the steering wheel 137 does not exceed the threshold corresponding to the vehicle speed (S5:No), the vehicle control device 11 proceeds to step S3. The vehicle control device 11 continues the automatic driving process until the amount of change in the steering wheel 137 exceeds the threshold corresponding to the vehicle speed (S5:No).

[0090] In step S6, the vehicle control device 11 switches from automatic driving to manual driving. For example, the vehicle control device 11 switches from automatic driving to manual driving when the amount of change of the steering wheel 137 exceeds a first threshold while the work vehicle 10 is automatically driving at high speed. Alternatively, for example, the vehicle control device 11 switches from automatic driving to manual driving when the amount of change of the steering wheel 137 exceeds a second threshold (where the second threshold < the first threshold) while the work vehicle 10 is automatically driving at low speed. As a result, for example, when the work vehicle 10 approaches the end of the straight path Pe, the operator decelerates the vehicle speed and steers the steering wheel 137 toward the next straight path, causing the amount of change of the steering wheel 137 to exceed the second threshold, and the vehicle switches from automatic driving to manual driving.

[0091] In each of the steps described above, the vehicle control device 11 terminates the driving control process when the work vehicle 10 finishes its work (when it reaches the work completion position). The vehicle control device 11 repeats the processes of steps S1 to S6 until the work vehicle 10 finishes its work.

[0092] As described above, the vehicle control device 11 executes the aforementioned driving control process for the work vehicle 10.

[0093] As described above, the vehicle control device 11 according to this embodiment controls the movement of a work vehicle 10 that can switch between automatic driving with automatic steering and manual driving with manual steering by the user. The vehicle control device 11 also receives user input on an operating device that causes the work vehicle 10 to perform a predetermined operation, causes the work vehicle 10 to perform an operation corresponding to the user input on the operating device, and switches from automatic driving to manual driving when the amount of change related to the operating device in response to the user input exceeds a threshold while the work vehicle 10 is driving automatically.

[0094] Furthermore, the vehicle control device 11 sets the threshold based on the setting information of the work vehicle 10. For example, the vehicle control device 11 sets the threshold according to the vehicle speed of the work vehicle 10. In another embodiment, the vehicle control device 11 may set the threshold based on the work information of the work vehicle 10. Specifically, the vehicle control device 11 may set the threshold based on the work content of the work vehicle 10, the state of the field F (work area), the location of the work path, etc. That is, the vehicle control device 11 sets the threshold based on at least one of the vehicle speed of the work vehicle 10, the work content of the work vehicle 10, the state of the work area, and the location of the work path.

[0095] For example, the vehicle control device 11 may set different threshold values ​​for the amount of change of the steering wheel 137 when performing rice planting work and for the amount of change of the steering wheel 137 when performing tilling work.

[0096] For example, the vehicle control device 11 may set the threshold value according to the depth of the tilled soil in the field F. For example, the vehicle control device 11 may set the threshold value of the amount of change of the steering wheel 137 to a large value in areas with deep tilled soil (work paths) to make the steering operation sensitivity less sensitive, and set the threshold value of the amount of change of the steering wheel 137 to a small value in areas with shallow tilled soil (work paths) to make the steering operation sensitivity more sensitive. The vehicle control device 11 may also display a selection screen P4, as shown in Figure 10, which allows the operator to select whether or not to set the steering operation sensitivity corresponding to the threshold value to be sensitive. The vehicle control device 11 sets the threshold value according to the operator's selection on the selection screen P4.

[0097] For example, the vehicle control device 11 may set the threshold value according to the presence or absence of drainage in the field F. For example, the vehicle control device 11 may set the threshold value of the amount of change of the steering wheel 137 to a large value in areas where drainage is present (work path) to make the steering operation sensitivity less sensitive, and set the threshold value of the amount of change of the steering wheel 137 to a small value in areas where drainage is not present (work path) to make the steering operation sensitivity more sensitive. The vehicle control device 11 may also display a selection screen P5, as shown in Figure 11, which allows the operator to select whether or not to set the steering operation sensitivity corresponding to the threshold value to be sensitive. The vehicle control device 11 sets the threshold value according to the operator's selection on the selection screen P5.

[0098] For example, the vehicle control device 11 may set the threshold value according to the soil type (sandy, clay, etc.) of the field F. For example, the vehicle control device 11 may set the threshold value for the amount of change of the handle 137 to a small value when the field F is sandy, and set the threshold value for the amount of change of the handle 137 to a large value when the field F is clayey.

[0099] Thus, when the plow pan is deep, when drainage systems are present, or when the soil is clayey, the load on the wheels due to steering is large, requiring a larger steering angle or faster steering. As a result, the inertial force of the steering wheel 137 itself also increases, and therefore, it is preferable to set a large threshold value for the amount of change of the steering wheel 137, which increases the load on the wheels due to steering.

[0100] For example, the vehicle control device 11 may set the threshold value according to the remaining amount of seedlings, fertilizer, chemicals, etc. For example, the vehicle control device 11 may set the threshold value for the amount of change of the handle 137 to a small value when the remaining amount is small, and set the threshold value for the amount of change of the handle 137 to a large value when the remaining amount is large.

[0101] The aforementioned information, such as the work details, the depth of the plow pan in field F, the presence or absence of drainage in field F, the soil properties of field F, and the remaining amounts of seedlings, fertilizer, and chemicals, is an example of work information for the work vehicle 10. As described above, the vehicle control device 11 may set the threshold based on the setting information of the work vehicle 10 (e.g., vehicle speed), or it may set the threshold based on the work information. Alternatively, the vehicle control device 11 may set the threshold based on information that combines the setting information and the work information.

[0102] According to the configuration of this embodiment, the threshold is set based on at least one of the setting information and the work information of the work vehicle 10, and when the amount of change related to the operating device in response to user operation exceeds the threshold while the work vehicle 10 is automatically driving, the system switches from automatic driving to manual driving. For example, this prevents the work vehicle 10 from switching to manual driving at a location unintended by the operator while it is automatically driving. Therefore, it becomes possible to appropriately switch from automatic driving to manual driving.

[0103] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention will be described below.

[0104] The vehicle control device 11 may be configured to allow the operator to select an operating device that links with the driving mode switching function. Specifically, the vehicle control device 11 accepts an operation on the settings screen to select the type of operating device that links with the driving mode switching function. For example, the settings screen P1 shown in Figure 7C displays an item K2 called "Linking Operation Selection" for selecting the operating device that links with the driving mode switching function. The display processing unit 113 may also display the "Linking Operation Selection" item K2 in a selectable state (active state) when the item K1 called "Automatic Linking of Machine Operation" is set to "ON".

[0105] When the operator selects item K2 on the setting screen P1 (by pressing the OK button), the display processing unit 113 displays the setting screen P6 shown in Figure 12. When the operator selects an operating device (in Figure 12, "PTO on" and "Steering wheel") on the setting screen P6 and presses "OK", the reception processing unit 112 accepts the selection operation and sets the PTO clutch lever 14L and the steering wheel 137 as operating devices that link to the driving mode switching function.

[0106] Furthermore, if the operator selects the PTO clutch lever 14L as the operating device for starting automatic driving and the handle 137 as the operating device for stopping automatic driving (for starting manual driving), the display processing unit 113 may display the settings in item K2 of the "Interlocking Operation Selection" on the setting screen P1, as shown in Figure 13.

[0107] This allows the operator to link the driving mode switching function to the desired control device.

[0108] Furthermore, the operating device for starting automatic driving and the operating device for stopping automatic driving (or starting manual driving) may be the same device.

[0109] The travel control system of the present invention may consist of a work vehicle 10 alone, or it may consist of a server equipped with various processing units included in a vehicle control device 11. Alternatively, the travel control system may consist of a work vehicle 10 equipped with a vehicle control device 11.

[0110] [Notes on the invention] The following is an overview of the invention extracted from the embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0111] <Note 1> A driving control method for controlling the movement of a work vehicle that can switch between automatic driving with automatic steering and manual driving with manual steering by the user, The system accepts user input for an operating device that causes the aforementioned work vehicle to perform a predetermined operation, To cause the work vehicle to perform an action in response to the user operation on the operating device, When the amount of change related to the operating device in response to the user operation exceeds a threshold while the work vehicle is in automatic driving mode, the system switches from automatic driving to manual driving mode. The threshold is set based on at least one of the setting information and work information of the aforementioned work vehicle, A driving control method that performs this operation.

[0112] <Note 2> The threshold is set based on at least one of the following: the speed of the work vehicle, the work performed by the work vehicle, the condition of the work area, and the location of the work path. The driving control method described in Appendix 1.

[0113] <Note 3> The operating device is at least one of the following: a steering device for changing the direction of travel of the work vehicle, a lifting device for raising and lowering the work equipment of the work vehicle, and a transmission device for changing the vehicle speed of the work vehicle. The driving control method described in Appendix 2.

[0114] <Note 4> The aforementioned operating device is the steering device, When the aforementioned work vehicle is automatically traveling at a first speed, if the amount of change related to the steering device in response to the user operation exceeds a first threshold, the automatic travel is switched to manual travel. When the work vehicle is automatically traveling at a second speed slower than the first speed, if the amount of change related to the steering system in response to the user operation exceeds a second threshold that is smaller than the first threshold, the automatic driving is switched to manual driving. The driving control method described in Appendix 3.

[0115] <Note 5> The slower the vehicle speed of the aforementioned work vehicle, the smaller the threshold value will be set. The driving control method described in Appendix 4.

[0116] <Note 6> The amount of change relating to the steering device is the amount of change in at least one of the steering direction, operating time, operating amount, and operating torque of the steering device. The driving control method described in Appendix 4 or 5.

[0117] <Note 7> The aforementioned work vehicle is equipped with a work machine that performs a predetermined task, If the aforementioned work vehicle receives an operation to drive the aforementioned work machine while it is being driven manually, the system further switches from manual driving to automatic driving. A driving control method described in any of the appendices 1 to 6.

[0118] <Note 8> When switching from manual driving to automatic driving, the threshold value is changed according to the vehicle speed of the work vehicle. The driving control method described in Appendix 7. [Explanation of symbols]

[0119] 10: Work vehicles 11: Vehicle control system 12: Storage section 13: Running gear 13L: Gear shift lever (operating device) 14: Work Machines 14L: PTO clutch lever (operating tool) 15: Communications Department 16: Positioning device 17: Operating device 111: Driving section 112: Reception Processing Section 113: Display Processing Unit 114: Operation Processing Unit 115: Determination Processing Unit 116: Configuration Processing Unit 137: Handle (operating device) F: Field R: Target path

Claims

1. A driving control method for controlling the movement of a work vehicle that can switch between automatic driving with automatic steering and manual driving with manual steering by the user, The system accepts user input for an operating device that causes the aforementioned work vehicle to perform a predetermined operation, To cause the work vehicle to perform an action in response to the user operation on the operating device, When the amount of change related to the operating device in response to the user operation exceeds a threshold while the work vehicle is in automatic driving mode, the system switches from automatic driving to manual driving mode. The threshold is set based on at least one of the following: the vehicle speed of the work vehicle, the work performed by the work vehicle, the depth of the tillage area, the soil type of the work area, the presence or absence of drainage in the work area, and the remaining amount of materials carried on the work vehicle. A driving control method that performs this operation.

2. The operating device is at least one of the following: a steering device for changing the direction of travel of the work vehicle, a lifting device for raising and lowering the work equipment of the work vehicle, and a transmission device for changing the vehicle speed of the work vehicle. The driving control method according to claim 1.

3. The operating device is the steering device, When the aforementioned work vehicle is automatically traveling at a first speed, if the amount of change related to the steering device in response to the user operation exceeds a first threshold, the automatic travel is switched to manual travel. When the work vehicle is automatically traveling at a second speed slower than the first speed, if the amount of change related to the steering device in response to the user operation exceeds a second threshold that is smaller than the first threshold, the automatic driving is switched to manual driving. The driving control method according to claim 2.

4. The slower the vehicle speed of the aforementioned work vehicle, the smaller the threshold value will be set. The driving control method according to claim 3.

5. The amount of change relating to the steering device is the amount of change in at least one of the steering direction, operating time, operating amount, and operating torque of the steering device. The driving control method according to claim 3 or 4.

6. The aforementioned work vehicle is equipped with a work machine that performs a predetermined task, If the aforementioned work vehicle receives an operation to drive the aforementioned work machine while it is being driven manually, the system further switches from manual driving to automatic driving. The driving control method according to claim 1.

7. When switching from manual driving to automatic driving, the threshold value is changed according to the vehicle speed of the work vehicle. The driving control method according to claim 6.

8. A driving control method for controlling the movement of a work vehicle that can switch between automatic driving with automatic steering and manual driving with manual steering by the user, The system accepts user input for the steering device that causes the aforementioned work vehicle to perform a predetermined operation, To cause the work vehicle to perform an action in response to the user operation on the steering device, When the work vehicle is automatically traveling at a first speed, if the amount of change in the steering system in response to the user operation exceeds a first threshold, the automatic travel is switched to manual travel. When the work vehicle is automatically traveling at a second speed slower than the first speed, if the amount of change in the steering system in response to the user operation exceeds a second threshold smaller than the first threshold, the automatic travel is switched to manual travel. The first threshold and the second threshold are set based on at least one of the setting information and work information of the work vehicle, A driving control method that performs this operation.

9. A work vehicle capable of switching between automatic driving with automatic steering and manual driving with manual steering by the user, and equipped with a work machine for performing a predetermined task, a driving control method for controlling the driving of the work vehicle, The system accepts user input for an operating device that causes the aforementioned work vehicle to perform a predetermined operation, To cause the work vehicle to perform an action in response to the user operation on the operating device, When the amount of change related to the operating device in response to the user operation exceeds a threshold while the work vehicle is in automatic driving mode, the system switches from automatic driving to manual driving mode. When the aforementioned work vehicle receives an operation to drive the aforementioned work implement while it is being driven manually, the manual drive is switched to automatic drive. The threshold is set based on at least one of the setting information and work information of the aforementioned work vehicle, When switching from manual driving to automatic driving, the threshold is changed according to the vehicle speed of the work vehicle, A driving control method that performs this operation.

10. A driving control system for controlling the movement of a work vehicle that can switch between automatic driving with automatic steering and manual driving with manual steering by the user, A reception processing unit that receives user input to an operating device that causes the aforementioned work vehicle to perform a predetermined operation, An operation processing unit that causes the work vehicle to perform an operation in response to the user operation on the operating device, A driving processing unit that switches from automatic driving to manual driving when the amount of change related to the operating device in response to user operation exceeds a threshold while the work vehicle is driving automatically, A setting processing unit sets the threshold based on at least one of the following: the vehicle speed of the work vehicle, the work performed by the work vehicle, the depth of the work area, the soil type of the work area, the presence or absence of drainage in the work area, and the remaining amount of materials carried on the work vehicle. A driving control system equipped with the following features.

11. A driving control program for controlling the movement of a work vehicle that can switch between automatic driving with automatic steering and manual driving with manual steering by the user, The system accepts user input for an operating device that causes the aforementioned work vehicle to perform a predetermined operation, To cause the work vehicle to perform an action in response to the user operation on the operating device, When the amount of change related to the operating device in response to the user operation exceeds a threshold while the work vehicle is in automatic driving mode, the system switches from automatic driving to manual driving mode. The threshold is set based on at least one of the following: the vehicle speed of the work vehicle, the work performed by the work vehicle, the depth of the tillage area, the soil type of the work area, the presence or absence of drainage in the work area, and the remaining amount of materials carried on the work vehicle. A driving control program to be executed by one or more processors.

Images