Patent ID: 11910737
Assignee: GINT CO., LTD.
Field: Measurement (Instruments)
Classification: CPC A  G | IPC A  G

Claim 9:
10. A autonomous driving controllable farm vehicle,
wherein the farm vehicle includes a processor capable of controlling a device provided in the farm vehicle,
wherein the processor controls the farm vehicle to be operate in an autonomous driving mode or a manual driving mode,
wherein the processor determines whether a problem occurs in at least one of a required device and an optional device of the farm vehicle every first cycle,
wherein the processor determines that a first emergency situation occurs when the problem occurs in the required device,
wherein the processor determines that a second emergency situation occurs when the problem occurs only in the optional device or a problem related to an external environment of the farm vehicle occurs,

wherein the processor determines whether the first emergency situation corresponding to the farm vehicle occurs for the first cycle when a driving mode of the farm vehicle is the autonomous driving mode, changes the driving mode of the farm vehicle to the manual driving mode when the first emergency situation occurs, determines whether the first emergency situation is resolved in the manual driving mode for a second cycle, and changes the driving mode of the farm vehicle to the autonomous driving mode when the first emergency situation is resolved,
wherein the farm vehicle operates with a work machine that receives power from a power take-off (PTO) device, and
wherein the second cycle is longer than the first cycle.