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

Claim 0:
1. A method of controlling autonomous driving of a farm vehicle,
the method comprising:
wherein the farm vehicle is operated in an autonomous driving mode or a manual driving mode,
wherein the farm vehicle 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 farm vehicle determines that a first emergency situation occurs when the problem occurs in the required device,
wherein the farm vehicle 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,

determining 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;
changing the driving mode of the farm vehicle to the manual driving mode when the first emergency situation occurs;
determining whether the first emergency situation is resolved in the manual driving mode for a second cycle; and
changing 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.