Automatic travel method, automatic travel program, and automatic travel system

Abstract

[Project] To provide an automatic driving method, an automatic driving program, and an automatic driving system that can prevent a decrease in work efficiency when a work vehicle detects a target object while driving automatically. [Solution] In the automatic driving system (10), the driving processing unit (111) drives the combine (1) automatically along a target path in the pavement. The judgment processing unit (612) determines whether the detected object is an obstacle that hinders the driving of the combine (1) based on the planned driving path that the combine (1) is scheduled to drive from the time the obstacle sensor (64) detects the detected object within a predetermined range when the obstacle sensor (64) detects the detected object.

Description

Technology Field

[0001] The present invention relates to an automatic driving method when a detection target is detected in a work vehicle. Background Technology

[0002] Conventionally, a technology for automatically driving a work vehicle in a work area along a preset target path is known. Additionally, a technology for determining the presence or absence of an obstacle by measuring the distance to an object in the direction of travel of the work vehicle, and performing collision avoidance control to avoid a collision with respect to the work vehicle under the condition that the obstacle is within a predetermined detection range (see, for example, Patent Document 1). Prior art literature

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-65115 The problem to be solved

[0004] However, in conventional technology, collision avoidance control is performed by determining an object as an obstacle even when, for example, an object located in a position different from the direction of travel of the work vehicle is detected. In this way, if collision avoidance control is performed by determining an object (the object to be detected) that has a low probability of colliding with the automatically driving work vehicle as an obstacle, a problem arises in which work efficiency is reduced during operations performed by the work vehicle's automatic driving.

[0005] The objective of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system that can prevent a decrease in work efficiency when a work vehicle detects a target object during automatic driving. means of solving the problem

[0006] The automatic driving method according to the present invention is an automatic driving method that automatically drives a work vehicle along a target path in a work area, and when a detection unit capable of detecting a detection target within a predetermined range detects the detection target, determines whether the detection target is an obstacle that hinders the driving of the work vehicle based on a planned driving path that the work vehicle is scheduled to drive from the time the detection unit detects the detection target.

[0007] In addition, the automatic driving program according to the present invention is an automatic driving program for executing, in one or more processors, the automatic driving of a work vehicle along a target path in a work area, and, when a detection unit capable of detecting a detection target within a predetermined range detects the detection target, determining whether the detection target is an obstacle that hinders the driving of the work vehicle based on a planned driving path that the work vehicle is scheduled to drive from the time the detection unit detects the detection target.

[0008] In addition, the automatic driving system according to the present invention comprises a driving processing unit and a judgment processing unit. The driving processing unit automatically drives a work vehicle along a target path in a work area. When a detection unit capable of detecting a detection target within a predetermined range detects the detection target, the judgment processing unit determines whether the detection target is an obstacle that hinders the driving of the work vehicle based on the planned driving path that the work vehicle is scheduled to drive from the time the detection unit detected the detection target. Effects of the invention

[0009] According to the present invention, an automatic driving method, an automatic driving program, and an automatic driving system can be provided that suppress the decrease in work efficiency when a work vehicle detects a target object during automatic driving. Brief explanation of the drawing

[0010] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. FIG. 2 is an external side view showing the configuration of a combine according to an embodiment of the present invention. FIG. 3 is an external top view showing the configuration of a combine according to an embodiment of the present invention. FIG. 4 is a drawing showing an example of a target path set in a field according to an embodiment of the present invention. FIG. 5 is a drawing showing an example of a work procedure of a combine according to an embodiment of the present invention. FIG. 6 is a drawing showing an example of the position (lowest position) of the cutting section of a combine according to an embodiment of the present invention. FIG. 7 is a drawing showing an example of the position (top position) of the cutting unit of a combine according to an embodiment of the present invention. FIG. 8 is a drawing showing a specific example of obstacle detection processing of a combine according to an embodiment of the present invention. FIG. 9 shows a specific example of obstacle determination processing of a combine according to an embodiment of the present invention. FIG. 10 is a flowchart illustrating an example of the sequence of automatic driving processing executed by an automatic driving system according to an embodiment of the present invention. FIG. 11 is a drawing showing a specific example of obstacle detection processing of a combine according to an embodiment of the present invention. FIG. 12 is a drawing showing a specific example of obstacle detection processing of a combine according to an embodiment of the present invention. FIG. 13 is a drawing showing a specific example of obstacle detection processing of a combine according to an embodiment of the present invention. FIG. 14 is a drawing showing a specific example of obstacle detection processing of a combine according to an embodiment of the present invention. Specific details for implementing the invention

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

[0012] As an example of a work vehicle of the present invention, a combine harvester (1) is described. Furthermore, the work vehicle of the present invention is not limited to a combine harvester and may be a tractor, a rice transplanter, a spreader, a construction machine, or a snowplow, etc. As shown in FIG. 1, an automatic driving system (10) according to an embodiment of the present invention includes a combine harvester (1) and an operating terminal (30). The combine harvester (1) and the operating terminal (30) can communicate through a communication network (N1). For example, the combine harvester (1) and the operating terminal (30) can communicate through a mobile phone network, a packet network, or a wireless LAN.

[0013] The combine (1) is a work vehicle that performs agricultural work such as mowing in a field. While the combine (1) performs work while driving, it transmits GNSS information from the GNSS antenna mounted on the combine (1), that is, the self-position of the combine (1), to the control terminal (30) as measurement point data.

[0014] Additionally, the combine (1) can perform automatic driving according to a preset target path. Additionally, the combine (1) may be configured to automatically drive in some areas of the pavement (e.g., a straight path) and manually drive in other areas (e.g., a turning path). Additionally, the combine (1) receives various setting information from the control terminal (30) and performs automatic driving according to the setting information.

[0015] The control terminal (30) is a portable terminal capable of remotely controlling the combine (1), and is composed of, for example, a tablet terminal, a laptop-type personal computer, a smartphone, etc. In addition, a control device identical to the control terminal (30) may be mounted on the combine (1).

[0016] An operator (worker) can perform setting operations on various setting items on the operating terminal (30). Additionally, the operating terminal (30) displays information such as the working status and driving status of the combine (1) during automatic driving. The operator can ascertain the working status and driving status on the operating terminal (30). Furthermore, in the present invention, the operating terminal (30) may be omitted.

[0017] FIG. 4 illustrates an example of a target path (R) set for a pavement (F). For example, a combine (1) performs a mowing operation ("rotary mowing," "reciprocating mowing") while driving from the outer side toward the inner side along the target path (R) within the pavement (F), from the work start position (S) to the work end position (G). Specifically, in the outer area (F1) on the outer side of the pavement (F), the combine (1) performs a mowing operation while driving along the edge (outer side) of the pavement. In addition, in the inner area (F2) on the inner side of the pavement (F), the combine (1) performs a mowing operation while driving straight along each work path in the up-down direction of FIG. 4, and moves between work paths by driving in a turning direction and driving straight without performing a mowing operation in the left-right direction.

[0018] An example of the operation sequence of the combine (1) is explained using FIG. 5. First, when the combine (1) starts automatic driving at the starting position (S), it drives along the outer perimeter of the field (F) while cutting the grain. In addition, when the combine (1) threshes the cut grain, it discharges the straw, such as straw residue, to the outside from the rear of the machine. As a result, the straw (B1) is accumulated in the path of the combine (1), and a row of straw is formed in the path where the combine (1) has completed the cutting operation. In addition, the combine (1) is configured to discharge the straw from the cut grain at the location of the grain to be cut, and is configured to allow identification of the position, width (the width of the left-right direction of the straw row), length, etc. of the straw (B1). For example, the straw (B1) is discharged with a width narrower than the width of the machine, based on the center of the left and right directions of the combine (1).

[0019] For example, the combine (1) covers the outer area (F1) for two weeks. In this case, two weeks' worth of straw rows are formed. Also, the number of times the outer area (F1) is covered is not limited to two weeks, but may be one week or three weeks or more.

[0020] When the combine (1) finishes the harvesting work in the outer area (F1), it enters the inner area (F2) and begins the harvesting work in the inner area (F2). In the inner area (F2), the combine (1) performs the harvesting work by driving straight along each work path in the up and down directions, and does not perform the harvesting work in the left and right directions, but moves between work paths by driving around and driving straight in the outer area (F1) (work completion area, harvesting area). The combine (1) performs the harvesting work in the inner area (F2), and when it reaches the work completion position (G), it ends the automatic driving and harvesting work.

[0021] The combine (1) performs a harvesting operation while driving automatically along a target path (R) within the packaging (F) as described above. Additionally, the combine (1) may be configured to drive automatically without an operator on board, or it may be configured to drive automatically while accepting the operator's operation with an operator on board. Furthermore, the combine (1) may be capable of switching between an automatic driving mode and a manual driving mode according to the operator's setting operation.

[0022] [Combine 1]

[0023] FIG. 2 shows an external view of the combine (1) viewed from the side, and FIG. 3 shows an external view of the combine (1) viewed from above. As shown in FIG. 1 to FIG. 3, the combine (1) is equipped with a driving unit (2), a cutting unit (3), a threshing unit (4), a sorting unit (5), a storage unit (6), a straw processing unit (7), a power unit (8), a control unit (9), a vehicle control device (11), a memory unit (51), a positioning unit (52), a communication unit (54), an obstacle detection device (60), etc. The combine (1) drives by the driving unit (2), cuts the grain stalks by the cutting unit (3), threshs the cut grain stalks by the threshing unit (4), sorts the grains by the sorting unit (5), and stores them in the storage unit (6). The combine (1) processes the straw after threshing by the straw processing unit (7). The combine (1) drives the driving unit (2), the cutting unit (3), the threshing unit (4), the sorting unit (5), the storage unit (6), and the straw processing unit (7) by power supplied by the power unit (8).

[0024] The driving unit (2) is provided below the body frame (12) and is equipped with a pair of left and right crawler-type driving devices (23) and a transmission (not shown). The driving unit (2) drives the combine (1) in the forward and backward directions or turns it in the left and right directions by rotating the crawler of the crawler-type driving device (23) by means of power (e.g., rotational power) transmitted from the engine (20) of the power unit (8). The transmission transmits power (rotational power) of the power unit (8) to the crawler-type driving device (23) and may also change the rotational power.

[0025] The mowing unit (3) is a working machine that performs work on the packaging (F) of the work target and is installed in front of the driving unit (2) to perform mowing of a predetermined mowing width in an area having an unmowing section (hereinafter referred to as the unmowing area), which is an unworked area of ​​the packaging (F). The mowing unit (3) is an example of the working machine of the present invention. The mowing unit (3) is equipped with a divider (13), a scraping reel (14), a mowing blade (15), a scraping auger (16), a feeder house (17), and a return conveyor (18). In addition, the mowing unit (3) is equipped with a rotation detection unit (not shown) that detects the rotation speed (work speed) of the rotational work for performing the mowing work. The above rotation detection unit is composed of a rotation sensor that detects, for example, the rotation speed of a scraping reel (14), the rotation speed of a scraping auger (16), the rotation speed of a return conveyor (18), etc.

[0026] The divider (13) is installed protruding forward from the left and right front ends of the cutting unit (3) and guides the uncut area of ​​the grain stalks into the cutting width. The raking reel (14) is positioned behind the divider (13) and is installed to be rotatable around a rotation axis extending in the left and right directions. The raking reel (14) is driven to rotate to lift the grain stalks and rakes up the ends of the grain stalks to assist in cutting the grain stalks guided by the divider (13). The cutting blade (15) is positioned below the raking reel (14) and cuts the grain stalks by cutting the grain stalks that have been raked up by the raking reel (14).

[0027] The scraping auger (16) is positioned behind the scraping reel (14) and the cutting blade (15) and is rotatably installed around a rotation axis extending in the left and right directions. By rotating the scraping auger (16), it scrapes up the grain cut by the cutting blade (15) and conveys it to the rear.

[0028] The feeder house (17) extends forward from the machine frame (12) and is positioned behind the scraping auger (16), and is supported on the machine frame (12) so as to be vertically movable. Additionally, as the feeder house (17) moves up and down, the divider (13), scraping reel (14), cutting blade (15), and scraping auger (16) move up and down, that is, the cutting unit (3) moves up and down.

[0029] Additionally, the combine (1) is equipped with a lifting mechanism (19) on the frame (12) that raises the feeder house (17) to raise the cutting unit (3), and raises the cutting unit (3) between a working position (see FIG. 6) and a non-working position (see FIG. 7). The lifting device (19) is composed of, for example, a hydraulic cylinder that operates by receiving power from an engine (20).

[0030] The return conveyor (18) is rotatably installed within the feeder house (17) and moves in conjunction with the lifting and lowering of the feeder house (17). By rotating the return conveyor (18), the grain conveyed within the feeder house (17) by the scraping auger (16) is conveyed further rearward to the threshing unit (4).

[0031] The threshing unit (4) is installed at the rear of the feeder house (17) of the harvesting unit (3) and threshs the grains conveyed from the feeder house (17). The threshing unit (4) is equipped with a handle (21) and a receiving net (22). The handle (21) threshs the grains from the grains conveyed from the feeder house (17) and, at the same time, conveys the grains after threshing, i.e., the straw, to the straw processing unit (7). The receiving net (22) supports the grains conveyed by the handle (21) and, at the same time, sieves and drops the grains.

[0032] The sorting unit (5) is installed below the threshing unit (4). The sorting unit (5) is equipped with a shaking sorting device (24), a blowing air sorting device (25), a grain conveying device (not shown), and a straw residue discharge device (not shown). The shaking sorting device (24) sieves the threshed material that has fallen from the threshing unit (4) and sorts it into grains and straw residue, etc. The blowing air sorting device (25) further sorts the threshed material that has fallen from the threshing unit (4) or the threshed material sorted by the shaking sorting device (24) into grains and straw residue, etc. by blowing air. The grain conveying device conveys the grain sorted by the shaking sorting device (24) and the blowing air sorting device (25) to the storage unit (6). The straw residue discharge device discharges straw residue other than grains separated by the shaking sorting device (24) and the blowing sorting device to the outside of the gas.

[0033] The storage unit (6) is installed to the right of the threshing unit (4). The storage unit (6) is equipped with a storage tank (grain tank) (27) and a grain discharge device (28). The storage tank (27) stores grains returned from the sorting unit (5). The grain discharge device (28) is configured with a discharge auger, etc., to perform the operation of discharging grains, and discharges the grains stored in the storage tank (27) to a conveyor vehicle at a preset discharge location.

[0034] The straw processing unit (7) is provided at the rear of the threshing unit (4). The straw processing unit (7) is equipped with, for example, a straw conveying device (not shown) and a straw cutting device (not shown). The straw processing unit (7) conveys the straw returned from the threshing unit (4) to the straw cutting device by the straw conveying device, and after cutting it by the straw cutting device, discharges it to the rear of the combine (1) (see FIG. 5).

[0035] The power unit (8) is provided above the driving unit (2) and below the storage unit (6). The power unit (8) is equipped with an engine (20) that generates rotational power. The power unit (8) transmits the rotational power generated by the engine (20) to the driving unit (2), the harvesting unit (3), the threshing unit (4), the sorting unit (5), the storage unit (6), and the straw processing unit (7). Additionally, the combine (1) is equipped with a fuel tank (3) that receives fuel supplied to the engine (20) of the power unit (8).

[0036] The control unit (9) is provided above the power unit (8). The control unit (9) is equipped with a steering mechanism for controlling the movement of the combine (1), such as a steering wheel for directing the turning of the body of the combine (1), a main speed lever and an auxiliary speed lever for directing the change in the forward and backward speed of the combine (1), around the driver's seat (40) where the operator sits. Manual driving of the combine (1) is performed by the driving unit (2) which receives the operation of the steering wheel, the main speed lever, and the auxiliary speed lever of the control unit (9). In addition, the control unit (9) is equipped with a mechanism for operating the cutting operation by the cutting unit (3), the threshing operation by the threshing unit (4), and the discharge operation by the grain discharge device (28) of the storage unit (6).

[0037] The positioning unit (52) acquires the self-position of the combine (1) using a satellite positioning system such as GPS. For example, the positioning unit (52) receives a positioning signal from a positioning satellite through a positioning antenna and acquires position information of the positioning unit (52), that is, the self-position of the combine (1) (measurement point data), based on the positioning signal. The positioning unit (52) may be composed of a quantum compass instead of a positioning antenna.

[0038] The communication unit (54) is a communication interface for connecting the combine (1) to a communication network (N1) via wired or wireless connection and for performing data communication according to a predetermined communication protocol between an external device, such as an operating terminal (30), through the communication network (N1).

[0039] The memory unit (51) is a non-volatile memory unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various information. The memory unit (51) stores a control program, such as an automatic driving program, for executing the automatic driving processing (see FIG. 10) described later in the vehicle control device (11). 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 memory unit (51). In addition, the automatic driving program may be downloaded to the combine (1) via a communication network (N1) from a server (not shown) and stored in the memory unit (51). In addition, various setting information obtained from the operation terminal (30) is stored in the memory unit (51).

[0040] The obstacle detection device (60) outputs measurement information to the vehicle control device (11) when the combine (1) detects a target object during automatic driving. Additionally, the vehicle control device (11) and the obstacle detection device (60) may be capable of wireless communication. Specifically, the obstacle detection device (60) is equipped with a detection control unit (61), a memory unit (62), a camera (63), an obstacle sensor (64), a communication unit (65), etc. The obstacle detection device (60) may be configured as a single unit and mounted on the combine (1), or it may be configured as a plurality of components and distributed across the combine (1).

[0041] The communication unit (65) is a communication interface for connecting the obstacle detection device (60) to the communication network (N1) via wired or wireless connection and for executing data communication according to a predetermined communication protocol between an external device (operation terminal (30), etc.) and the communication network (N1).

[0042] The memory unit (62) is a non-volatile memory unit such as an HDD, SSD, or flash memory that stores various information. The memory unit (62) stores a control program, such as an obstacle detection program, for executing an obstacle detection process (see FIG. 10) on the obstacle detection device (60). The obstacle detection process is included in the automatic driving process, and the obstacle detection program may be included in the automatic driving program. For example, the obstacle detection program may be 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 memory unit (62). Additionally, the obstacle detection program may be downloaded from a server (not shown) to the obstacle detection device (60) via a communication network (N1) and stored in the memory unit (62).

[0043] The camera (63) is a digital camera that captures an image of a subject included within a predetermined capturing range and outputs it as digital image data. The camera (63) continuously captures the subject at a predetermined frame rate, generates a frame image (captured image) of a predetermined resolution, and sequentially transmits it to a detection control unit. Additionally, the camera (63) transmits the image data of the captured image to an operating terminal (30) through a communication unit (65). The operating terminal (30) can display the captured image on the operating screen of the operating display unit (33).

[0044] The camera (63) may include a front camera capable of capturing a forward imaging range as viewed from the combine (1), a rear camera capable of capturing a rear imaging range as viewed from the combine (1), a left camera capable of capturing a left imaging range as viewed from the combine (1), and a right camera capable of capturing a right imaging range as viewed from the combine (1). Additionally, the camera (63) may be composed only of a front camera and a rear camera. Furthermore, the camera (63) may be composed of a single unit and may be an omnidirectional camera capable of capturing an omnidirectional range around the combine (1).

[0045] The obstacle sensor (64) is a sensor that detects a target object within a predetermined detection range using infrared rays, ultrasound, etc. For example, the obstacle sensor (64) may be a LiDAR sensor (distance sensor) capable of measuring the distance to the target object in three dimensions using a laser, or a sonar sensor having multiple sonar rays capable of measuring the distance to the target object using ultrasound. The obstacle sensor (64) is installed in the central front, central rear, etc., of the body of the combine (1) and detects obstacles by monitoring the surroundings of the combine (1). In this embodiment, an example is described of a device including a front obstacle sensor in which the obstacle sensor (64) can detect a target object within a detection range in front of the combine (1). As shown in FIG. 2, the obstacle sensor (64) is positioned at the upper front of the control unit (9). By the obstacle sensor (64), a target object within a predetermined detection range (6A) (measurement range) (see FIG. 5) in front of the combine (1) can be detected. Additionally, the obstacle sensor (64) may each include an obstacle sensor capable of detecting objects in the detection range (6A) of the rear, left, and right sides as viewed from the combine (1).

[0046] FIG. 5 illustrates an example of the detection range (6A) of an obstacle sensor (64). The obstacle sensor (64) has the detection range (6A) in front of the control unit (9) set as the measurement range. The obstacle sensor (64) measures the distance to each measurement point (measurement target) existing in the detection range (6A) using, for example, a laser (near-infrared laser light, etc.) and generates a distance image based on the measurement information. The obstacle sensor (64) includes an electronic control unit in which a microcontroller is integrated, a processing unit built by various control programs, etc., and is connected to the detection control unit (61), vehicle control device (11), etc. via CAN so as to be able to communicate with each other.

[0047] The obstacle sensor (64) measures the distance from the obstacle sensor (64) to the measurement point based on the time of flight (TOF) method, which measures the distance to the measurement point based on the round-trip time from when the laser beam is irradiated until it reaches the measurement point and returns. The obstacle sensor (64) scans the laser at high speed in the vertical and horizontal directions over the entire detection range (6A), and performs three-dimensional measurement in the detection range (6A) by sequentially measuring the distance to the measurement point for each scanning angle (coordinate). The obstacle sensor (64) sequentially measures the intensity of reflected light (reflection intensity) from each acquired measurement point. The obstacle sensor (64) repeatedly measures the distance to each measurement point and each reflection intensity in real time within the detection range (6A).

[0048] The obstacle sensor (64) generates a distance image from measurement information such as the distance to each measured point or the scanning angle (coordinates) for each measured point, extracts a group of measured points presumed to be obstacles, and transmits measurement information regarding the extracted group of measured points to the detection control unit (61) as measurement information regarding obstacles.

[0049] Additionally, a vehicle control range is set in the detection range (6A), and the vehicle control device (11) may be able to perform processing (countermeasure processing) according to the location of the object to be detected.

[0050] For example, the detection range (6A) can be divided into a stop control range, a deceleration control range, and a notification control range based on a collision judgment process in which the collision prediction time is set time (e.g., 3 seconds). Specifically, the stop control range is set to a range from the obstacle sensor (64) to the judgment reference position of the collision judgment process. The deceleration control range is set to a range from the judgment reference position to the deceleration start position. The notification control range is set to a range from the deceleration start position to the measurement limit position of the obstacle sensor (64). The judgment reference position is set to a position located a certain distance L1 (e.g., 2m) away from the front end of the vehicle body including the mowing unit (3) in the forward direction of the vehicle body. For example, the range of distance L1 of the combine (1) is set as the stop control range, the range from distance L1 to distance L2 (e.g., 5m or less) is set as the deceleration control range, and the range from distance L2 to distance L3 (e.g., 10m or less) is set as the hold control range. The vehicle control device (11) performs countermeasure processing such as stopping, decelerating, or hold according to the location of the detected obstacle (each control range).

[0051] In addition, the above vehicle control range is set according to the type, model, work content, vehicle speed, etc. of the work vehicle. Also, the range into which the front side of the cutting unit (3) enters may be set as a non-detection range by masking processing and a processing (masking processing) may be performed to exclude it from the detection range (6A).

[0052] The detection control unit (61) outputs measurement information acquired from the obstacle sensor (64) to the vehicle control device (11). The detection control unit (61) sequentially outputs measurement information to the vehicle control device (11) whenever measurement information is acquired from the obstacle sensor (64) while the combine (1) is driving automatically. In another embodiment, the detection control unit (61) may determine the type of detection target (measurement target) (person, vehicle, structure, material, etc.) based on the image captured from the camera (63) and the measurement information acquired from the obstacle sensor (64), and output the determination result to the vehicle control device (11). Below, the case of detecting a detection target in front when the combine (1) is driving forward will be described as an example, and the case of detecting a detection target behind when the combine (1) is driving backward will be omitted.

[0053] The detection control unit (61) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various calculation processes. The ROM is a non-volatile memory unit in which control programs, such as BIOS and OS, for executing various calculation processes on the CPU are stored in advance. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for various processes executed by the CPU. The detection control unit (61) controls the obstacle detection device (60) by executing various control programs stored in advance in the ROM or memory unit (62) on the CPU.

[0054] Specifically, as shown in FIG. 1, the detection control unit (61) includes various processing units such as an acquisition processing unit (611), a judgment processing unit (612), and an output processing unit (613). In addition, the detection control unit (61) functions as the various processing units by executing various processing according to the obstacle detection program in the CPU. In addition, some or all of the processing units may be composed of electronic circuits. In addition, the obstacle detection program may be a program for making a plurality of processors function as the processing units.

[0055] The acquisition processing unit (611) acquires captured images from the camera (63) and acquires measurement information from the obstacle sensor (64). Specifically, when the combine (1) starts automatic driving, the acquisition processing unit (611) sequentially acquires captured images of the imaging range in front of the driving direction from the camera (63) during automatic driving. The acquisition processing unit (611) stores the acquired captured images in the memory unit (62). In addition, when the combine (1) starts automatic driving, the acquisition processing unit (611) sequentially acquires measurement information (measurement point group, distance image, etc.) of the detection range (6A) (see FIG. 2) in front of the driving direction from the obstacle sensor (64) during automatic driving. The acquisition processing unit (611) stores the acquired measurement information in the memory unit (62).

[0056] The determination processing unit (612) determines whether the object to be detected is an obstacle that hinders the driving of the combine (1) based on the measurement information (shot image, measurement point group, distance image, etc.) acquired by the acquisition processing unit (611).

[0057] Specifically, the determination processing unit (612) determines whether the object to be detected is an obstacle based on the planned driving path that the combine (1) is scheduled to drive from the time the obstacle sensor (64) detects the object to be detected within the detection range (6A) when the obstacle sensor (64) detects the object to be detected. The planned driving path is, for example, a part of the target path (R), or a path generated based on the current position of the combine (1) at the time the obstacle sensor (64) detects the object to be detected and the target path (R). Additionally, the planned driving path is a predicted path that the combine (1) will drive for a predetermined time from the time the obstacle sensor (64) detects the object to be detected.

[0058] For example, as shown in FIG. 8, the judgment processing unit (612) predicts (simulates) a driving path (planned driving path (R0)) from the current position (P0) to a predetermined time (T1) ahead when the combine (1) is driving automatically along the target path (R). For example, the judgment processing unit (612) generates a straight path corresponding to the distance the combine (1) can travel at the predetermined time (T1) as the planned driving path (R0). In addition, FIG. 8 shows five planned driving paths (R0) for each predetermined time (T1), i.e., five simulation results, superimposed. Here, the determination processing unit (612) performs a first simulation at the current position (P0) to predict the first planned driving path (R0), performs a second simulation at the position (P0) after a predetermined time (T1) has elapsed to predict the second planned driving path (R0), performs a third simulation at the position after the next predetermined time (T1) has elapsed to predict the third planned driving path (R0), performs a fourth simulation at the position after the next predetermined time (T1) has elapsed to predict the fourth planned driving path (R0), and performs a fifth simulation at the position after the next predetermined time (T1) has elapsed to predict the fifth planned driving path (R0). In this way, the determination processing unit (612) predicts (simulates) the planned driving path (R0) at the current position at that time every predetermined time (T1). The judgment processing unit (612) performs the simulation while the combine (1) is driving automatically from the work start position (S) to the work end position (G).

[0059] Here, the judgment processing unit (612) sets a predetermined time (T1) by adding a margin time to the time required from detecting the object to safely stopping the combine (1). Additionally, the judgment processing unit (612) sets the predetermined time (T1) according to the vehicle speed of the combine (1). For example, the judgment processing unit (612) sets the predetermined time (T1) to a longer time as the vehicle speed of the combine (1) increases, and sets the predetermined time (T1) to a shorter time as the vehicle speed of the combine (1) decreases. Additionally, the judgment processing unit (612) may set the predetermined time (T1) based on the type of path at the current location of the combine (1), for example, a straight path, a turning path, a work path, or a non-work path. Additionally, the judgment processing unit (612) may set a predetermined time (T1) based on the type, category, and work content of the work vehicle.

[0060] In addition, in the example shown in FIG. 8, since the combine (1) is traveling on the target path (R), the judgment processing unit (612) predicts a portion of the path from the current position (P0) to a predetermined time (T1) ahead of the target path (R) as the planned path (R0).

[0061] In another embodiment, when the combine (1) is traveling at a position that is laterally offset from the target path (R), the determination processing unit (612) may predict the path from the current position (P0) to the position on the target path (R) that the combine (1) is expected to reach after a predetermined time (T1) as the planned travel path (R0).

[0062] The judgment processing unit (612), when predicting a planned driving path (R0), sets an area within a predetermined distance from the planned driving path (R0) as an obstacle judgment area (6B), and determines that the detected object is an obstacle if it is located within the obstacle judgment area (6B). Additionally, the judgment processing unit (612) determines that the detected object is not an obstacle if it is located outside the obstacle judgment area (6B). In this way, the judgment processing unit (612) simulates the obstacle judgment area (6B) after a predetermined time (T1) has elapsed at the current location (P0) and determines that the object is an obstacle based on whether the detected object is located within the obstacle judgment area (6B). The predetermined distance is set, for example, as the distance from the center of the left and right direction of the combine (1) to the left and right ends plus a margin distance. That is, the judgment processing unit (612) sets the distance obtained by adding a margin distance to the width of the body of the combine (1) (distance from the left end to the right end) in the obstacle judgment area (6B).

[0063] In the example shown in FIG. 8, when the combine (1) is located at the current position (P0), the obstacle sensor (64) detects a detection target (X1) located within the detection range (6A), but since the detection target (X1) is located outside the obstacle determination area (6B), the determination processing unit (612) determines that the detection target (X1) is not an obstacle. In contrast, when the detection target (X1) is located within the obstacle determination area (6B), the determination processing unit (612) determines that the detection target (X1) is an obstacle. Additionally, FIG. 8 shows five obstacle determination areas (6B) at each predetermined time (T1), i.e., five simulation results, superimposed.

[0064] FIG. 9 shows another example of a target path (R). In the target path (R) shown in FIG. 9, the combine (1) travels straight along a straight path (Ra) to the edge of the pavement (edge ​​of the field), stops temporarily at the edge of the pavement, travels backward along a straight path (Rb), stops temporarily at the end of the straight path (Rb), travels forward along a turning path (Rc), and then travels forward along a straight path (Rd). In this case, the judgment processing unit (612) predicts (generates) a planned path (R0) from the current position (P0) (current time) to a predetermined time (T1) ahead from the current time.

[0065] In the example shown in FIG. 9, when the combine (1) is located at the current position (P0), the obstacle sensor (64) detects a detection target (X2) located within the detection range (6A). However, since the detection target (X2) is located outside the obstacle determination area (6B), the determination processing unit (612) determines that the detection target (X2) is not an obstacle. Here, the planned driving path (Re) represents the path generated when the combine (1) reaches the end of the straight path (Ra). In this way, even when the combine (1) is closest to the edge of the pavement, since the detection target (X2) is located outside the obstacle determination area (6B), the determination processing unit (612) determines that the detection target (X2) is not an obstacle. That is, it is possible to prevent the detection target (X2) located near the edge of the pavement (e.g., the edge of a field ridge) from being determined as an obstacle.

[0066] In another embodiment, the determination processing unit (612) may determine the location of the object to be detected (X2), and if it determines that the object to be detected (X2) is located outside the packaging, it may determine that the object to be detected (X2) is not an obstacle. In this case, for example, even if the object to be detected (X2) is located within the obstacle determination area (6B), if the object to be detected (X2) is located outside the packaging, the determination processing unit (612) determines that the object to be detected (X2) is not an obstacle. Additionally, the object to be detected (X2) is, for example, an operator waiting to perform work (discharge work, supply work, etc.) at a ridge (discharge location of harvested produce, supply location of fuel, etc.). As another example, the object to be detected (X2) may be a ridge, a steel tower, etc. Additionally, regarding fixed objects such as embankments or steel towers, the obstacle detection device (60) may perform obstacle determination processing when the obstacle sensor (64) detects them, or may perform obstacle determination processing based on map information in which fixed objects are registered in advance.

[0067] As described above, the judgment processing unit (612) predicts (simulates) the planned driving path (R0) and the obstacle judgment area (6B) at the current location of the combine (1) and determines whether the object to be detected is an obstacle. The judgment processing unit (612) executes the simulation at a predetermined period (every predetermined time (T1)) according to the automatic driving of the combine (1). Additionally, the judgment processing unit (612) may execute the simulation at a predetermined period (every predetermined time (T1)) until the object to be detected disappears from the detection range (6A), provided that the obstacle sensor (64) detects the object to be detected.

[0068] The output processing unit (613) outputs response information based on the judgment result of the judgment processing unit (612) to the vehicle control device (11) and the operation terminal (30). Specifically, when a detection target is detected, the output processing unit (613) outputs (notifies) detection information indicating that a detection target has been detected to the operation terminal (30) and displays the detection information on the operation terminal (30). Additionally, the output processing unit (613) may send the detection information to the operation terminal (30) via mail. Furthermore, when a detection target is detected, the output processing unit (613) outputs vehicle control information (stop instruction, deceleration instruction, hold instruction, evasive driving instruction, etc.) for controlling the combine (1) to the vehicle control device (11) and executes vehicle control processing (stop processing, deceleration processing, hold processing, evasive driving processing, etc.) on the vehicle control device (11). Specific examples of the vehicle control processing will be described later.

[0069] Additionally, the output processing unit (613) may be configured such that when the judgment processing unit (612) determines that the detected object is an obstacle, the response information is output to the vehicle control device (11) and the operation terminal (30), and when the detected object is determined not to be an obstacle, the response information is not output to the vehicle control device (11) and the operation terminal (30).

[0070] Additionally, the output processing unit (613) may provide the operator with information including that the object to be detected has been detected and that the automatic driving of the combine (1) continues when the judgment processing unit (612) determines that the object to be detected is not an obstacle. By doing so, the operator can determine that the object to be detected has been detected but that the automatic driving continues without stopping.

[0071] The vehicle control unit (11) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various calculation processes. The ROM is a non-volatile memory unit in which control programs, such as BIOS and OS, for executing various calculation processes on the CPU are stored in advance. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory for various processes executed by the CPU. The vehicle control unit (11) controls the combine (1) by executing various control programs stored in advance in the ROM or memory unit (51) on the CPU.

[0072] Specifically, as shown in FIG. 1, the vehicle control device (11) includes various processing units such as a driving processing unit (111). In addition, the vehicle control device (11) functions as the various processing units by executing various processing according to the automatic driving program in the CPU. In addition, some or all of the processing units may be composed of electronic circuits. In addition, the automatic driving program may be a program for making a plurality of processors function as processing units.

[0073] The driving processing unit (111) controls the driving of the combine (1). For example, when the driving mode of the combine (1) is automatic driving (automatic driving mode), the driving processing unit (111) drives the combine (1) automatically based on position information (positioning information) indicating the current position of the combine (1) determined by the positioning unit (52). For example, when the driving processing unit (111) satisfies the conditions for starting automatic driving of the combine (1) and obtains a driving start instruction from the operator, it starts the automatic driving of the combine (1) based on the positioning information. For example, the driving processing unit (111) drives the combine automatically from the work start position (S) to the work end position (G) along a target path that is pre-generated and set in the operation terminal (30).

[0074] In addition, when the driving mode of the combine (1) is manual driving (manual driving mode), it is possible to drive the combine (1) manually based on the operator's operation (manual steering). For example, the driving processing unit (111) acquires operation information corresponding to driving operations such as steering, gear shifting, driving direction change, and brake operation by the operator, and executes a driving operation based on said operation information.

[0075] Additionally, the driving processing unit (111) performs a predetermined countermeasure when the combine (1) detects a target object (obstacle) during automatic driving. Specifically, the driving processing unit (111) performs a driving control process to control the driving of the combine (1), a warning sound, a warning sound, etc., based on the countermeasure information (stop instruction, deceleration instruction, hold instruction, avoidance driving instruction, etc.) output from the obstacle detection device (60) (output processing unit (613)). In contrast, if the driving processing unit (111) determines that the target object is not an obstacle, it does not perform the above countermeasure and continues the automatic driving of the combine (1).

[0076] Specifically, the driving processing unit (111) stops the automatic driving of the combine (1) when an obstacle (a detection target determined to be an obstacle) is located within the stop control range. Additionally, the driving processing unit (111) reduces the vehicle speed of the combine (1) when an obstacle is located within the deceleration control range. Additionally, the driving processing unit (111) emits a warning sound from the combine (1) when an obstacle is located within the lookout control range.

[0077] Additionally, the driving processing unit (111) drives the combine (1) to avoid obstacles along an avoidance path. For example, the driving processing unit (111) generates the shortest path from the current position (P0) to the target path (R) by avoiding obstacles as an avoidance path, and drives the combine (1) automatically along the avoidance path. Additionally, the driving processing unit (111) may stop the combine (1) if the avoidance path cannot connect to the target path (R). For example, if the avoidance path cannot connect to the starting end of a work path or the starting end of a turning path included in the target path (R), the driving processing unit (111) stops the combine (1) without generating an avoidance path or driving to avoid obstacles. In addition, for example, if the avoidance path is set outside the packaging (field, etc.) or within the work completion area, it is difficult to drive along the avoidance path, so the driving processing unit (111) stops the combine (1) without creating the avoidance path or driving around it.

[0078] In this way, the driving processing unit (111) generates an avoidance path when a detection target is detected and the detection target is determined to be an obstacle, starts avoidance driving under the condition that it is possible to return to the target path (R) by avoiding the obstacle through the avoidance path, and stops automatic driving when it is determined that it is impossible to return to the target path (R) through the avoidance path.

[0079] For example, the driving processing unit (111) controls driving according to instructions received from the operating terminal (30). For example, when the driving processing unit (111) receives a driving start instruction from the operating terminal (30), it starts the automatic driving of the combine (1), and when it receives a driving stop instruction from the operating terminal (30), it stops the automatic driving of the combine (1).

[0080] [Operation terminal (30)]

[0081] As shown in FIG. 1, the operation terminal (30) is an information processing device having an operation control unit (31), a memory unit (32), an operation display unit (33), and a communication unit (34), etc. The operation terminal (30) is configured, for example, as a tablet terminal.

[0082] The communication unit (34) is a communication interface for connecting the operating terminal (30) to the communication network (N1) via wired or wireless connection and for performing data communication according to a predetermined communication protocol between one or more external devices, such as a combine (1), through the communication network (N1).

[0083] The operation display unit (33) is a user interface equipped with 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 touch panel, a mouse, or a keyboard, that receives operations. The operator can perform operations to register various setting information by operating the operation unit on the operation screen displayed on the display unit. Additionally, the operator can perform automatic driving instructions for the combine (1) by operating the operation unit. Furthermore, the operator can determine the driving status of the combine (1) that is automatically driving within the packaging (F) by means of the driving trajectory displayed on the operation terminal (30) from a location away from the combine (1).

[0084] The memory unit (32) is a non-volatile memory unit such as an HDD, SSD, or flash memory that stores various information. A control program for executing a predetermined control process in the operation control unit (31) is stored in the memory unit (32). For example, the control 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) provided by the operation terminal (30) and stored in the memory unit (32). In addition, the control program may be downloaded from a server (not shown) to the operation terminal (30) via a communication network (N1) and stored in the memory unit (32). Furthermore, the memory unit (32) can store work information transmitted from the combine (1).

[0085] Additionally, a dedicated application for automatically driving the combine (1) is installed in the memory unit (32). The operation control unit (31) activates the dedicated application to perform the processing of various setting information regarding the combine (1), and the instruction for automatic driving of the combine (1).

[0086] The operation control unit (31) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various calculation processes. The ROM is a non-volatile memory unit in which control programs such as BIOS and OS are stored in advance for executing various calculation processes on the CPU. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory for various processes executed by the CPU. The operation control unit (31) controls the operation terminal (30) by executing various control programs stored in advance in the ROM or memory unit (32) on the CPU.

[0087] As shown in FIG. 1, the operation control unit (31) includes various processing units such as a setting processing unit (311) and an output processing unit (312). In addition, the operation control unit (31) functions as various processing units by executing various processing according to the control program in the CPU. In addition, some or all of the processing units may be composed of electronic circuits. In addition, the control program may be a program for making a plurality of processors function as processing units.

[0088] The setting processing unit (311) sets various setting information for the combine (1) to perform automatic driving. Specifically, the setting processing unit (311) sets packaging information regarding packaging. The packaging information includes, for example, the shape, size, and location information (coordinates, etc.) of the outermost edge of the packaging, measurement point data constituting the outermost edge of the packaging, and the shape, size, and location information (coordinates, etc.) of the work area within the packaging where work is performed. In addition, the packaging information includes the address of the packaging, the registered name and date of the packaging information, and the registered name and date of the work area within the packaging. The setting processing unit (311) receives the registration operation of packaging information by an operator and sets the packaging information.

[0089] Additionally, the setting processing unit (311) creates a target path (R) including a work path and a turning path. For example, an operator selects a path pattern, a turning type, etc., on a setting screen (not shown). The path pattern includes "reciprocal mowing" which involves reciprocating multiple strokes, and "rotating mowing" which involves repeating strokes along the inner circumference of a work area within a package while shifting them toward the center, and the operator selects one of the path patterns. Additionally, the operator can correct the turning radius when turning during reciprocal mowing and rotating mowing operations on the setting screen.

[0090] Additionally, the setting processing unit (311) creates a work path based on information such as the packaging information, the path pattern, the turning type, and the turning radius. The setting processing unit (311) registers the path information (target path (R)) of the created work path by correlating it with the packaging (F).

[0091] Additionally, the setting processing unit (311) sets work information regarding the work performed by the combine (1). The work information includes information regarding the harvesting work, information regarding intermediate work performed by the combine (1) at a predetermined location during the harvesting work, etc. For example, when the amount of stored in the storage tank (27) (see FIG. 2) reaches a predetermined amount (upper limit) during the harvesting work, the combine (1) moves to a discharge location within the packaging (F) and discharges the grain stored in the storage tank (27) to a transport vehicle. Also, for example, when the fuel reaches a predetermined amount (lower limit) during the harvesting work, the combine (1) moves to a supply location within the packaging (F) and supplies fuel. The setting processing unit (311) sets the discharge location and the supply location at any location within the packaging (F) according to the operator's setting operation. The above work information includes information such as the upper limit of the storage amount and the discharge location, the lower limit of the fuel and the supply location.

[0092] Additionally, the setting processing unit (311) sets the driving speed (vehicle speed) of the combine (1). For example, the operator can set the straight vehicle speed, turning vehicle speed, and reverse vehicle speed during operation and non-operation on the setting screen.

[0093] The setting processing unit (311) sets known information such as the type of combine (1) (maximum harvesting capacity), vehicle width, and vehicle length in addition to the information described above.

[0094] The output processing unit (312) outputs various setting information set by the setting processing unit (311) to the combine (1). Additionally, the output processing unit (312) outputs work start instructions and work end instructions to the combine (1) based on the operation of the operator.

[0095] When the operation control unit (31) receives the operation start instruction from the operator, the output processing unit (312) outputs the operation start instruction to the combine (1). Accordingly, the vehicle control device (11) of the combine (1) obtains the operation start instruction from the operation terminal (30). When the vehicle control device (11) obtains the operation start instruction, it starts the operation and driving of the combine (1). Additionally, when the operation control unit (31) receives the operation start instruction from the operator, the output processing unit (312) outputs the operation stop instruction to the combine (1). Accordingly, the vehicle control device (10) of the combine (1) obtains the operation stop instruction from the operation terminal (30). When the vehicle control device (11) obtains the operation stop instruction, it stops the operation and driving of the combine (1).

[0096] The display processing unit (313) displays various information on the operation display unit (33). Specifically, the display processing unit (313) displays map information of the pavement (F), the target route (R), the current location of the combine (1), etc., on the driving screen. In addition, the display processing unit (313) displays an image captured by the camera (63) during automatic driving on the driving screen. In addition, when the combine (1) detects a target object during automatic driving, the display processing unit (313) displays information indicating that the target object has been detected and the location of the target object. In addition, when the target object is determined to be an obstacle, the display processing unit (313) may display information indicating that an obstacle has been detected and the location of the obstacle.

[0097] Additionally, the display processing unit (313) may display the planned driving path (R0) and the obstacle determination area (6B) when the combine (1) detects a target object during automatic driving (see FIG. 8 and FIG. 9). That is, when the obstacle detection device (60) detects a target object, the display processing unit (313) may display the simulation results regarding the driving path of the combine (1) up to a predetermined time (T1) ahead on the operating terminal (3).

[0098] Additionally, the operating terminal (30) can access the website of an agricultural support service (agricultural support site) provided by a server (not shown) via a communication network (N1). In this case, the operating terminal (30) can function as an operating terminal of the server by executing a browser program by the operating control unit (31). And, the server is equipped with each of the processing units described above and executes each processing.

[0099] [Automatic Driving Processing]

[0100] Hereinafter, with reference to FIG. 10, an example of automatic driving processing performed by an automatic driving system (10) will be described. In addition, the automatic driving processing includes obstacle detection processing performed by an obstacle detection device (60).

[0101] Furthermore, the present invention may be understood as an invention of an automatic driving method (an example of an automatic driving method of the present invention) that executes one or more steps included in the automatic driving process. Additionally, one or more steps included in the automatic driving process described herein may be appropriately omitted. Furthermore, the execution order of each step in the automatic driving process may differ within the scope of producing the same operational effect. Additionally, although the vehicle control device (11) and the obstacle detection device (60) are described here as examples of cases where they execute each step in the automatic driving process, an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner may also be considered as another embodiment. The vehicle control device (11) and the obstacle detection device (60) execute the automatic driving process when the automatic driving of the combine (1) is initiated.

[0102] <Step S1>

[0103] In step S1, the obstacle detection device (60) determines whether the combine (1) has detected a target object. For example, the obstacle detection device (60) determines that the target object has been detected when the target object is included in the detection range (6A) of the obstacle sensor (64) (see FIG. 8 and FIG. 9). If the obstacle detection device (60) detects the target object (S1: Yes), the processing proceeds to step S2. Meanwhile, if the obstacle detection device (60) does not detect the target object (S1: No), the processing proceeds to step S9. The obstacle detection device (60) performs the determination of the target object while the combine (1) is driving automatically.

[0104] <Step S2>

[0105] In step S2, the obstacle detection device (60) predicts (simulates) the planned driving path (R0) of the combine (1). Specifically, the obstacle detection device (60) predicts the planned driving path (R0) from the current position (P0) of the combine (1) to a predetermined time (T1) ahead based on the target path (R). For example, the obstacle detection device (60) predicts the path along the target path (R) from the current position (P0) to a position on the target path (R) that the combine (1) is predicted to reach after a predetermined time (T1) as the planned driving path (R0) (see FIGS. 8 and 9).

[0106] <Step S3>

[0107] In step S3, the obstacle detection device (60) sets an obstacle determination area (6B). Specifically, the obstacle detection device (60) sets the area obtained by adding a margin distance to the lateral width (distance from the left end to the right end) of the combine (1) as the obstacle determination area (6B) (see FIGS. 8 and 9).

[0108] <Step S4>

[0109] In step S4, the obstacle detection device (60) determines whether the object to be detected is located within the obstacle judgment area (6B). If the obstacle detection device (60) determines that the object to be detected is located within the obstacle judgment area (6B) (S4: Yes), the processing proceeds to step S5. Meanwhile, if the obstacle detection device (60) determines that the object to be detected is located outside the obstacle judgment area (6B) (S4: No), the processing proceeds to step S9. In this way, when the obstacle detection device (60) detects the object to be detected, it determines whether the object to be detected is located within the obstacle judgment area (6B) simulated at that point in time (current position P0).

[0110] <Step S5>

[0111] In step S5, the obstacle detection device (60) determines that the object to be detected is an obstacle. That is, the obstacle detection device (60) determines that if the object to be detected is located within the obstacle determination area (6B) simulated at the time of detection (current position P0), the object to be detected becomes an obstacle that hinders the driving of the combine (1) after the current position (P0). If the object to be detected is located outside the obstacle determination area (6B), the obstacle detection device (60) determines that the object to be detected does not become an obstacle that hinders the driving of the combine (1).

[0112] <Step S6>

[0113] In step S6, the vehicle control device (11) performs a response process. Specifically, the vehicle control device (11) stops the automatic driving of the combine (1) when the detected object (obstacle) is located within the stop control range. Additionally, the vehicle control device (11) reduces the vehicle speed of the combine (1) when the detected object (obstacle) is located within the deceleration control range. Additionally, the vehicle control device (11) emits a warning sound from the combine (1) when the detected object (obstacle) is located within the avoidance control range. Furthermore, the vehicle control device (11) generates an avoidance path to avoid the detected object (obstacle) and drives the combine (1) automatically along the avoidance path.

[0114] <Step S7>

[0115] In step S7, the obstacle detection device (60) determines whether the object to be detected (obstacle) is located outside the obstacle judgment area (6B) from within the obstacle judgment area (6B). If the obstacle detection device (60) determines that the object to be detected (obstacle) is located outside the obstacle judgment area (6B) (S7: Yes), the processing proceeds to step S8. Meanwhile, if the obstacle detection device (60) determines that the object to be detected (obstacle) is still located within the obstacle judgment area (6B) (S7: No), the processing proceeds to step S6. The vehicle control device (11) continues the above processing while the object to be detected (obstacle) is located within the obstacle judgment area (6B), and terminates the above processing when the object to be detected becomes outside the obstacle judgment area (6B).

[0116] <Step S8>

[0117] In step S8, the vehicle control device (11) terminates the above handling process. For example, the vehicle control device (11) stops the combine (1) when the obstacle detection device (60) detects an obstacle within the stop control range, and then terminates the stop processing of the combine (1) and resumes automatic driving when the obstacle is removed from the obstacle judgment area (6B) by an operator removing the obstacle.

[0118] Also, for example, when the obstacle detection device (60) detects an obstacle within the deceleration control range, the vehicle control device (11) decelerates the combine (1), and then when the obstacle is removed from the obstacle detection area (6B) by the operator, the deceleration process of the combine (1) is terminated and the speed is increased to the original set speed.

[0119] Additionally, for example, the vehicle control device (11) detects an obstacle within the control range of the obstacle detection device (60) and then stops the warning sound from the combine (1) when the obstacle is removed from the obstacle detection area (6B) by the operator.

[0120] Also, for example, when the obstacle detection device (60) detects an obstacle within the stop control range, the vehicle control device (11) drives the combine (1) around along the avoidance path, and when the combine (1) returns to the target path (R), it terminates the avoidance driving process of the combine (1) and resumes automatic driving along the target path (R).

[0121] <Step S9>

[0122] In step S9, the vehicle control unit (11) determines whether the combine (1) has reached the work end position (G) (see FIG. 5). If the vehicle control unit (11) determines that the combine (1) has reached the work end position (G) (S9: Yes), the automatic driving process is terminated. If the vehicle control unit (11) determines that the combine (1) has reached the work end position (G) (S9: No), the process is transferred to step S1. The vehicle control unit (11) repeats the above-described process until the combine (1) reaches the work end position (G) (S9: No).

[0123] In this way, the automatic driving system (10) automatically drives the combine (1) from the work start position (S) to the work end position (G) along the target path (R), and when a detection target is detected during automatic driving, it performs the processing of steps S2 to S8 described above.

[0124] As described above, the automatic driving system (10) according to the present embodiment automatically drives a work vehicle (e.g., a combine harvester (1)) along a target path (R) on a pavement (F). When an obstacle sensor (64) capable of detecting a target object within a predetermined range (detection range (6A)) detects a target object, the system determines whether the target object is an obstacle that hinders the driving of the work vehicle based on the planned driving path that the work vehicle is scheduled to drive from the time the obstacle sensor (64) detects the target object. Additionally, the automatic driving system (10) executes a countermeasure process when it determines that the target object is an obstacle, and continues the automatic driving of the work vehicle without executing a countermeasure process when it determines that the target object is not an obstacle.

[0125] For example, when the automatic driving system (10) determines that the object to be detected is an obstacle, it stops the work vehicle, reduces the driving speed of the work vehicle, emits a warning sound from the work vehicle, or drives the work vehicle to avoid it.

[0126] In this regard, the automatic driving system (10) continues the automatic driving of the work vehicle when it determines that the detected object is not an obstacle. That is, as shown in FIGS. 8 and 9, even if the detected object (X1, X2) is located within the detection range (6A) of the obstacle sensor (64), if the detected object (X1) is located outside the obstacle determination area (6B), the automatic driving system (10) skips the above countermeasure processing and continues the automatic driving of the work vehicle.

[0127] According to the above configuration, even if the obstacle sensor (64) detects a target object, the work vehicle can continue automatic driving if there is a low probability that the work vehicle will collide with the target object. Therefore, it is possible to prevent a decrease in work efficiency when the work vehicle detects a target object while driving automatically.

[0128] Additionally, the automatic driving system (10) may continue automatic driving while decelerating the work vehicle when it determines that the detected object is not an obstacle. Additionally, the automatic driving system (10) may continue automatic driving while sounding a warning when it determines that the detected object is not an obstacle.

[0129] [Other embodiments]

[0130] As another embodiment of the automatic driving system (10) according to the present invention, obstacle detection processing and automatic driving processing may be performed according to the type of object to be detected. Specifically, when the object to be detected is a moving object, the obstacle detection device (60) may determine whether the moving object is an obstacle based on the planned driving path of the work vehicle and the planned movement path of the moving object.

[0131] For example, the obstacle detection device (60) determines whether the object to be detected is a moving object based on an image captured from a camera (63) and measurement information obtained from an obstacle sensor (64). If the obstacle detection device (60) determines that the object to be detected is a moving object, it predicts the planned path of the moving object. For example, if the obstacle detection device (60) determines that the object to be detected is a work vehicle (another vehicle), it predicts the planned path of the other vehicle. Specifically, the obstacle detection device (60) may predict the planned path by estimating the direction of movement and speed of movement of the other vehicle based on the image captured and the measurement information. Additionally, if the obstacle detection device (60) can obtain driving information of the other vehicle, it may predict the planned path based on the target path of the other vehicle. The obstacle detection device (60) determines whether the other vehicle is an obstacle based on the planned path of the self-vehicle and the planned path of the other vehicle.

[0132] FIG. 11 illustrates a specific example of the above configuration. Here, an example is shown in which a combine (1A) automatically drives along a target path (R), and another vehicle, a combine (1B), automatically drives along a target path (R1). When the obstacle detection device (60) of the combine (1A) detects a combine (1B) located within the detection range (6A) at the current location (P0), it determines whether the combine (1B) is an obstacle based on the planned driving path (R0) of the combine (1A) and the planned driving path (R2) of the combine (1B). For example, the obstacle detection device (60) predicts the planned driving path (R2) by estimating the direction of movement and speed of movement of the combine (1B), or predicts the planned driving path (R2) by acquiring data on the target path (R1) and driving information (set vehicle speed, etc.) of the combine (1B).

[0133] For example, the obstacle detection device (60) predicts (simulates) a driving path (planned driving path (R2)) for the combine (1B) from its current position (Pa) to a predetermined time (T1). For example, the judgment processing unit (612) generates a straight path corresponding to the distance the combine (1B) can travel during the predetermined time (T1) as the planned driving path (R2).

[0134] The obstacle detection device (60) simulates the respective positions of the combine (1A) and the combine (1B) after a predetermined time (T1) has elapsed at the current time of the current location (P0) and determines whether the combine (1B) is an obstacle. The obstacle detection device (60) performs the simulation every predetermined time (T1). Then, the obstacle detection device (60) determines that the combine (1B) is an obstacle if the combine (1B) is present at the intersection where the planned driving path (R0) and the planned driving path (R2) intersect at the time when the combine (1A) passes the intersection. In contrast, the obstacle detection device (60) determines that the combine (1B) is not an obstacle if the combine (1B) has completed passing the intersection and is not present at the intersection at the time when the combine (1A) passes the intersection.

[0135] When the obstacle detection device (60) determines whether the combine (1B) is an obstacle, the vehicle control device (11) performs a response process on the combine (1A). For example, the vehicle control device (11) decelerates or stops the combine (1A) until the combine (1B) passes the intersection. After the combine (1B) passes the intersection, the vehicle control device (11) increases the vehicle speed of the combine (1A) to its original set speed or resumes automatic driving. In another embodiment, if the combine (1A) and the combine (1B) can communicate with each other, the vehicle control device (11) may instruct the combine (1B) to decelerate or stop in front of the intersection until the combine (1A) passes the intersection.

[0136] FIG. 12 shows another example of driving a combine (1B). In the example shown in FIG. 12, just like the example shown in FIG. 11, the obstacle detection device (60) simulates the respective positions of the combine (1A) and the combine (1B) at a predetermined time (T1) at the current time of the current position (P0), and determines that the combine (1B) is an obstacle when the combine (1A) passes through an intersection where the planned driving path (R0) and the planned driving path (R2) intersect, and the combine (1B) is present at said intersection. In contrast, the obstacle detection device (60) determines that the combine (1B) is not an obstacle when the combine (1A) passes through said intersection and the combine (1B) has completed passing through said intersection and is not present at said intersection.

[0137] FIG. 13 shows another example of driving a combine (1B). In the example shown in FIG. 13, the planned driving path (R0) of the combine (1A) and the planned driving path (R2) of the combine (1B) do not intersect, and since the combine (1B) does not enter the obstacle judgment area of ​​the combine (1A), the combine (1B) is judged not to be an obstacle.

[0138] According to the configuration shown in FIGS. 11 to 13, for example, when performing cooperative work on the same pavement (F) with multiple work vehicles, it is possible to prevent automatic driving from stopping by unnecessarily determining both vehicles as obstacles, thereby preventing a decrease in work efficiency.

[0139] In another embodiment of the present invention, the obstacle detection device (60) may determine whether the object to be detected is an obstacle based on the planned driving path of the work vehicle and the change in posture of the work tool in the planned driving path. For example, the combine (1) raises the cutting unit (3) between the working position (see FIG. 6) and the non-working position (see FIG. 7). When the cutting unit (3) is in the non-working position, a space of height (H1) is formed between the cutting unit (3) and the ground. When the combine (1) is driving with the cutting unit (3) raised to the non-working position, the likelihood of contact with the combine (1) is low even if the object to be detected enters the space. So, the obstacle detection device (60) predicts, for example, the planned driving path (R0) of the combine (1) and the position (working position or non-working position) of the harvesting unit (3) up to a predetermined time (T1), and if it is predicted that the harvesting unit (3) is in a non-working position, it excludes the area below the harvesting unit (3) (the range of height (H1)) from the obstacle determination area (6B).

[0140] Accordingly, for example, when the obstacle detection device (60) detects a target object within the range below the mowing unit (3), the vehicle control device (11) continues automatic driving without performing a countermeasure. In addition, the working device that changes position may be a scatterer, a rotary tiller, etc., which are connected to the tractor in a way that allows them to be raised and lowered, in addition to the mowing unit.

[0141] In this way, the obstacle detection device (60) may set the obstacle determination area (6B) based on the posture and position of the work implement of the work vehicle. For example, the obstacle detection device (60) may set the predetermined distance for the planned driving path (R0) based on the posture of the work implement of the work vehicle. In addition, as another embodiment, the obstacle detection device (60) may set the predetermined distance based on the vehicle speed of the work vehicle, the lifting position of the work implement, and the turning range. In addition, the obstacle detection device (60) may set the obstacle determination area by calculating the external size of the vehicle at predetermined time intervals during the lifting of the work implement.

[0142] In the above-described embodiment, the planned driving path is a path that the combine (1) can drive for a predetermined time from the time when the obstacle sensor (64) detects the object to be detected, but in another embodiment, the planned driving path may be a path from the current position of the work vehicle at the time when the obstacle detection device (60) detects the object to be detected to a predetermined distance ahead. The predetermined distance may be a pre-set distance, or it may be set based on the current vehicle speed of the combine (1) and the position of the driving path (straight path or turning path). In addition, the obstacle detection device (60) may predict the planned driving path based on user operation to set the predetermined time or the predetermined distance. That is, an operator may be able to set the predetermined time or the predetermined distance at the operation terminal (30). In addition, the authority to set the predetermined time or the predetermined distance may be changed to be granted only to a specific user or to all users. In addition, the range of the predetermined time or the predetermined distance that can be set by the user may be pre-set.

[0143] In the above-described embodiment, the detection unit for detecting the object to be detected (obstacle) is shown as an obstacle sensor (64) or camera (63) mounted on the combine (1), but in other embodiments, the detection unit may be a camera placed outside the combine (1). For example, the detection unit may be a camera installed on the packaging, or a camera mounted on an aircraft (helicopter, drone, etc.) flying over the packaging. If the detection unit is a camera installed on the packaging or a camera on an aircraft, the entire packaging may be set as the detection range.

[0144] In another embodiment of the present invention, the obstacle detection device (60) may set the planned driving path (R0) and the obstacle determination area (6B) based on the vehicle speed, work content, and positioning accuracy of the work vehicle. For example, the obstacle detection device (60) may make the obstacle determination area (6B) when the positioning accuracy is low larger than the obstacle determination area (6B) when the positioning accuracy is high.

[0145] In another embodiment of the present invention, the obstacle detection device (60) (decision processing unit (612)) may predict a driving path (R0) that includes a plurality of straight paths. For example, as shown in FIG. 14, the decision processing unit (612) generates straight paths (r1, r2) corresponding to the distance that the combine (1) can travel at each reference time (t1), and generates a driving path (R0) corresponding to a predetermined time (T1) (e.g., T1 = t1 × 5). Specifically, the judgment processing unit (612) predicts (simulates) the position (P1) of the combine (1) after time (t1) (reference time (t1) × 1) from the current time, the position (P2) of the combine (1) after time (t2) (reference time (t1) × 2) from the current time, the position (P4) of the combine (1) after time (t4) (reference time (t1) × 4) from the current time, and the position (P5) of the combine (1) after time (t5) (reference time (t1) × 5) from the current time, and generates a path (turning path) connecting each position (P1~P5) from the current time as a planned driving path (R0). And, the judgment processing unit (612) sets an obstacle judgment area (6B) for one planned driving path (R0) that includes a plurality of straight paths (r1).

[0146] The judgment processing unit (612) may set a planned driving path (R0) and an obstacle judgment area (6B) according to the size of the detection range (6A). For example, the judgment processing unit (612) sets a planned driving path (R0) and an obstacle judgment area (6B) that extend to the end of the detection range (6A) at every predetermined time (T1). According to the above configuration, it is possible to determine early whether a detection target located away from the combine (1) is an obstacle.

[0147] However, the driving paths on which the work vehicle travels include (1) work paths requiring precise positional accuracy (work paths for planting, work paths for mowing, etc.), (2) work paths where there is no problem with the vehicle's position being temporarily misaligned (work paths for spraying herbicides, tilling, etc.), and (3) paths where no work is performed (movement paths between work paths, etc.). In the driving paths of (2) and (3) above, a change to an avoidance path to avoid obstacles is permitted, but in the driving path of (1) above, a change to an avoidance path is not permitted, and if an obstacle is detected, it is necessary to stop at that point. Thus, depending on the work content or the type of driving path, avoidance driving is permitted or prohibited. Therefore, as another embodiment, the vehicle control device (11) may be configured to determine whether to automatically drive the work vehicle along an avoidance path or to stop or decelerate the work vehicle according to the work content or the type of driving path of the work vehicle.

[0148] Additionally, for example, if a work vehicle detects an obstacle while driving along the driving path of (1) above and stops (stops) automatic driving, the vehicle control device (11) may report to the operator that the work vehicle has stopped and the reason or surrounding conditions, and receive instructions from the operator as to whether to resume automatic driving of the work vehicle. For example, if the vehicle stops due to a minor obstacle (such as a small branch) that does not hinder driving, there may be cases where one wishes to ignore this and resume automatic driving. In such cases, the operator can resume automatic driving while ignoring the obstacle by giving instructions to resume automatic driving. Additionally, when the operation terminal (30) generates an avoidance path to avoid an obstacle, it may display the said avoidance path or the predicted path of the work vehicle.

[0149] Additionally, the vehicle control device (11) may pre-set response processing (stopping, decelerating, holding, avoiding driving, etc.) corresponding to the work content or type of driving path of the work vehicle according to the user's setting operation. For example, the vehicle control device (11) allows the user to set only "stopping" for the driving path of (1), and allows the user to set "stopping," "decelerating," and "avoiding driving" for the driving paths of (2) and (3).

[0150] In addition, as another embodiment, when the vehicle control device (11) determines a detected object to be an obstacle, it may execute a countermeasure according to the type of obstacle. Specifically, the vehicle control device (11) may determine whether to drive the work vehicle automatically along an avoidance path or to stop or decelerate the work vehicle according to the type of obstacle. For example, when the vehicle control device (11) determines a person to be an obstacle, it stops the automatic driving of the combine (1). Also, for example, when the vehicle control device (11) determines a tree branch, leaf, etc., as an obstacle, it decelerates the combine (1). Also, for example, when the vehicle control device (11) determines materials, etc., as an obstacle, it drives the combine to avoid the obstacle.

[0151] Additionally, the vehicle control device (11) may pre-set response processing (stopping, decelerating, holding, avoiding, etc.) corresponding to the type of obstacle according to the user's setting operation. Additionally, the vehicle control device (11) may limit the response processing that the user can set according to the type of obstacle. For example, the vehicle control device (11) may allow the user to set only "stopping" for "people," allow the user to set "stopping" and "decelerating" for "tree branches and leaves," and allow the user to set "stopping" and "avoiding" for "materials."

[0152] In addition, as another embodiment, when the vehicle control device (11) determines that the object to be detected is an obstacle, it can perform a countermeasure (stop, decelerate, hold, avoid driving, etc.) according to the type of the obstacle and the type of the work content or driving path of the work vehicle.

[0153] As described above, in the above-described embodiment, the automatic driving system (10) corresponds to the control system according to the present invention, but the control system according to the present invention may be composed of an obstacle detection device (60) alone, may be composed of an obstacle detection device (60) and a vehicle control device (11), may be composed of a work vehicle (combine (1)) alone, or may be composed including a work vehicle and an operation terminal (30).

[0154] [Invention Note]

[0155] The following outlines the invention derived from the embodiments. Additionally, each component and each processing function described in the following appendix may be selected and arbitrarily combined.

[0156] <Booklet 1>

[0157] Automatically driving a work vehicle along a target path within a work area,

[0158] When a detection unit capable of detecting a detection target within a predetermined range detects said detection target, determining whether said detection target is an obstacle that hinders the driving of said work vehicle based on the planned driving path that said work vehicle is scheduled to drive from the time the detection unit detected said detection target.

[0159] An automatic driving method executed by one or more processors.

[0160] Booklet 2

[0161] The above planned driving path is a path of a part of the above target path, or a path generated based on the current position of the work vehicle at the time when the detection unit detects the object to be detected and the above target path,

[0162] Automatic driving method described in Appendix 1.

[0163] Book 3

[0164] The above planned driving path is a path that the work vehicle can travel for a predetermined time from the time the detection unit detects the object to be detected, or a path from the current position of the work vehicle to a predetermined distance ahead from the time the detection unit detects the object to be detected.

[0165] Automatic driving method described in Appendix 1 or 2.

[0166] Book 4

[0167] Setting an obstacle determination area within a predetermined distance from the above planned driving path, and determining the detection target as the obstacle when the detection target is located within the obstacle determination area.

[0168] Automatic driving method described in any one of Appendix 1 to 3.

[0169] Book 5

[0170] If the above detection target is determined to be the above obstacle, execute the countermeasure processing, and

[0171] If it is determined that the detected object is not the obstacle, the above countermeasure processing is not executed and the above work vehicle continues to drive automatically.

[0172] Automatic driving method described in any one of Appendix 1 to 4.

[0173] Book 6

[0174] When the above-mentioned detection target is determined to be the obstacle, the work vehicle is automatically driven along an avoidance path capable of avoiding the obstacle, or the work vehicle is stopped or decelerated.

[0175] Automatic driving method described in Appendix 5.

[0176] Book 7

[0177] Stopping the work vehicle when the above avoidance path cannot be connected to the above target path,

[0178] Automatic driving method described in Appendix 6.

[0179] Book 8

[0180] In the case where it is determined that the above-mentioned detection target is not the obstacle, providing the user with notification information including detecting the above-mentioned detection target and continuing the automatic driving of the above-mentioned work vehicle.

[0181] Automatic driving method described in any one of Appendix 1 to 7.

[0182] Bookmark 9

[0183] When the above detection target is a moving object, determining whether the moving object is an obstacle based on the above planned driving path of the work vehicle and the above planned moving path of the moving object.

[0184] Automatic driving method described in any one of Appendix 1 to 8.

[0185] Bookmark 10

[0186] Determining whether the detected object is the obstacle based on the planned driving path of the above-mentioned work vehicle and the change in attitude of the work tool of the above-mentioned work vehicle along the planned driving path,

[0187] Automatic driving method described in any one of Appendix 1 to 9.

[0188] Bookmark 11

[0189] Predicting the planned driving path based on user operation that sets the above-mentioned predetermined time or the above-mentioned predetermined distance,

[0190] Automatic driving method described in Appendix 3.

[0191] Bookmark 12

[0192] Determining whether to automatically drive the work vehicle along the avoidance path or to stop or decelerate the work vehicle according to the work content of the above work vehicle

[0193] Automatic driving method described in Appendix 6.

[0194] Bookmark 13

[0195] In the case where the above work vehicle is stopped, the user is notified that the work vehicle has been stopped, the reason for the stop, and the surrounding conditions, and an instruction is received from the user as to whether to resume the automatic driving of the above work vehicle.

[0196] Automatic driving method described in Appendix 6.

[0197] Bookmark 14

[0198] Displaying the above avoidance path on the user's operating terminal,

[0199] Automatic driving method described in Appendix 6.

[0200] Bookmark 15

[0201] Determining whether to automatically drive the work vehicle along the avoidance path or to stop or decelerate the work vehicle according to the type of obstacle mentioned above.

[0202] Automatic driving method described in Appendix 6.

[0203] <Book 16>

[0204] The above countermeasure processing corresponding to the above type of obstacle is pre-set according to the user's setting operation,

[0205] Automatic driving method described in Appendix 6.

[0206] <Book 17>

[0207] Automatically driving a work vehicle along a target path within a work area,

[0208] When a detection unit capable of detecting a detection target within a predetermined range detects said detection target, determining whether said detection target is an obstacle that hinders the driving of said work vehicle based on the planned driving path that said work vehicle is scheduled to drive from the time the detection unit detected said detection target.

[0209] An automatic driving program for executing on one or more processors.

[0210] Bookmark 18

[0211] A driving processing unit that automatically drives a work vehicle along a target path in a work area,

[0212] A determination processing unit that determines whether the detected object is an obstacle that hinders the driving of the work vehicle based on the planned driving path of the work vehicle from the time the detection unit detects the detected object, when a detection unit capable of detecting a detected object within a predetermined range detects the detected object.

[0213] An automatic driving system including Explanation of the symbols

[0214] 10: Automatic driving system 30: Operation terminal 31: Operation control unit 311: Configuration processing unit 312: Output processing unit 313: Display processing unit 1: Combine (work vehicle) 11: Vehicle control unit 111: Driving processing unit 60: Obstacle detection device 61: Detection control unit 63: Camera 64: Obstacle sensor (detection unit) 6A: Detection range 6B: Obstacle Detection Area 611: Acquisition Processing Unit 612: Judgment Processing Unit 613: Output processing unit F: Packaging S: Work start position G: Task exit location R: Target path R1: Target path R0: Planned route R2: Planned driving route X1: Object to be detected X2: Detectable object

Claims

Claim 1 An automatic driving method comprising: automatically driving a work vehicle along a target path in a work area; and, when a detection unit capable of detecting a detection target within a predetermined range detects the detection target, determining whether the detection target is an obstacle that hinders the driving of the work vehicle based on a planned driving path that the work vehicle is scheduled to drive from the time the detection unit detects the detection target. Claim 2 An automatic driving method according to claim 1, wherein the planned driving path is a path of a part of the target path, or a path generated based on the current position of the work vehicle at the time when the detection unit detects the object to be detected and the target path. Claim 3 An automatic driving method according to claim 1, wherein the planned driving path is a predicted path that the work vehicle travels for a predetermined time from the time when the detection unit detects the object to be detected, or a predicted path from the current position of the work vehicle to a predetermined distance ahead from the time when the detection unit detects the object to be detected. Claim 4 An automatic driving method according to claim 1, wherein a predetermined distance from the planned driving path is set as an obstacle determination area, and when the detection target is located within the obstacle determination area, the detection target is determined to be the obstacle. Claim 5 An automatic driving method according to claim 1, wherein if the detected object is determined to be the obstacle, a countermeasure is executed, and if the detected object is determined not to be the obstacle, the countermeasure is not executed and the automatic driving of the work vehicle is continued. Claim 6 An automatic driving method according to claim 5, wherein when the detected object is determined to be the obstacle, the work vehicle is automatically driven along an avoidance path capable of avoiding the obstacle, or the work vehicle is stopped or decelerated. Claim 7 An automatic driving method according to claim 6, which stops the work vehicle when the avoidance path cannot be connected to the target path. Claim 8 An automatic driving method according to claim 1, wherein when the detection target is determined not to be the obstacle, the user is provided with information including detecting the detection target and continuing the automatic driving of the work vehicle. Claim 9 An automatic driving method according to claim 1, wherein when the detection target is a moving object, the method determines whether the moving object is an obstacle based on the planned driving path of the work vehicle and the planned driving path of the moving object. Claim 10 An automatic driving method according to claim 1, which determines whether the detected object is the obstacle based on the planned driving path of the work vehicle and the change in attitude of the work device of the work vehicle in the planned driving path. Claim 11 In paragraph 3, an automatic driving method that predicts the planned driving path based on user operation to set the predetermined time or the predetermined distance. Claim 12 An automatic driving method according to claim 6, which determines whether to automatically drive the work vehicle along the avoidance path or to stop or decelerate the work vehicle according to the type of work content or driving path of the work vehicle. Claim 13 An automatic driving method according to claim 6, wherein when the above-mentioned work vehicle is stopped, the user is notified that the above-mentioned work vehicle has been stopped, the reason for the stop, and the surrounding conditions, and an instruction is received from the user as to whether to resume the automatic driving of the above-mentioned work vehicle. Claim 14 In paragraph 6, an automatic driving method that displays the above avoidance path on a user's operating terminal. Claim 15 An automatic driving method according to claim 6, which determines whether to automatically drive the work vehicle along the avoidance path or to stop or decelerate the work vehicle depending on the type of obstacle. Claim 16 An automatic driving method according to claim 6, wherein the countermeasure processing corresponding to the type of obstacle is pre-set according to the user's setting operation. Claim 17 An automatic driving program for executing, in one or more processors, automatic driving of a work vehicle along a target path in a work area, and when a detection unit capable of detecting a detection target within a predetermined range detects the detection target, determining whether the detection target is an obstacle that hinders the driving of the work vehicle based on a planned driving path that the work vehicle is scheduled to drive from the time the detection unit detects the detection target. Claim 18 An automatic driving system comprising: a driving processing unit that automatically drives a work vehicle along a target path in a work area; and a determination processing unit that determines whether a detected object is an obstacle that hinders the driving of the work vehicle based on a planned driving path that the work vehicle is scheduled to drive from the time the detection unit detects the detected object, when a detection unit capable of detecting a detected object within a predetermined range detects the detected object.

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