Patent Description:
There is a case in which a farm field is divided into a work area, in which a work vehicle is caused to mainly travel straight to perform work, and a headland area, which is positioned around the work vehicle for turning the work vehicle, for example. In Patent Literature <NUM>, there is described that a path on which a work vehicle is caused to autonomously travel is created in both of these kinds of work area and headland area. Patent Literature <NUM> discloses a method for automatically generating swath paths and navigating a vehicle along the generated swath paths using a controller. Patent Literature <NUM> relates to an agricultural machine, such as a tractor, that allows an operator of the agricultural machine to set up the driver assistance system of the agricultural machine using virtual operating elements, and Patent Literature <NUM> discloses a driving support system includes a device control unit that outputs operation control signals to a travel operation device causing a traveling vehicle body to travel and a work operation device causing a ground work apparatus to operate.

However, in Patent Literature <NUM>, a specific creation method or a specific usage method of a path for a headland area is not described in detail. Since headland areas have different characteristics from work areas, the path creation method or usage method of a work area cannot be simply applied.

The present invention has been made in view of the above situation, and the main object thereof is to provide an autonomous travel system in which an auxiliary line that can be utilized as a path in a headland area is created, so that it is possible to cause a work vehicle to properly perform autonomous traveling in the headland area.

The problem to be solved by the present invention is as described above, and the means for solving this problem and the effect thereof will be explained in the following.

According to a first non-claimed aspect, an autonomous travel system having the following configuration is provided. That is, this autonomous travel system includes a farm field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a travel control unit. The farm field acquisition unit obtains information of a farm field including a work area, in which a travel path for a work vehicle on which a work machine is mounted to autonomously travel to perform work is set, and a headland area, which is formed between the work area and a farm field peripheral edge. The reference auxiliary line creation unit creates a first reference auxiliary line in the headland area at a position that is distant inward from the farm field peripheral edge by a first reference interval, which is <NUM>/<NUM> of a work width or <NUM>/<NUM> of a work machine width. The adjacent auxiliary line creation unit creates a first adjacent auxiliary line at a position that is distant inward from the first reference auxiliary line by an auxiliary line interval, which is a value obtained by subtracting an overlap amount from the work width or a value obtained by adding a work interval to the work width. The total number of the first reference auxiliary line and first adjacent auxiliary lines to be created inside of a predetermined side of the farm field peripheral edge is a value obtained by rounding up decimal places of L/S if a headland width, which is a distance from the farm field peripheral edge to the work area, is L and the auxiliary line interval is S. The travel control unit causes the work vehicle to autonomously travel along at least a part of the first reference auxiliary line and first adjacent auxiliary lines.

Accordingly, by creating auxiliary lines with reference to the farm field peripheral edge and making the work vehicle autonomously travel along the auxiliary lines, it is possible to prevent remaining work from occurring in the headland area.

According to a second non-claimed aspect, an autonomous travel system having the following configuration is provided. That is, this autonomous travel system includes a farm field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a travel control unit. The farm field acquisition unit obtains information of a farm field including a work area, in which a travel path for a work vehicle on which a work machine is mounted to autonomously travel to perform work is set, and a headland area, which is formed between the work area and a farm field peripheral edge. The reference auxiliary line creation unit creates a second reference auxiliary line in the headland area at a position that is distant outward from a work area peripheral edge by a second reference interval, which is a value obtained by subtracting an overlap amount from <NUM>/<NUM> of a work width or a value obtained by adding a work interval to <NUM>/<NUM> of the work width. The adjacent auxiliary line creation unit creates a second adjacent auxiliary line at a position that is distant outward from the second reference auxiliary line by an auxiliary line interval, which is a value obtained by subtracting the overlap amount from the work width or a value obtained by adding the work interval to the work width. The total number of the second reference auxiliary line and second adjacent auxiliary lines to be created outside of a predetermined side of the work area peripheral edge is a value obtained by rounding down decimal places of L/S or a value obtained by subtracting <NUM> from the value obtained by rounding down decimal places of L/S if a headland width, which is a distance from the farm field peripheral edge to the work area, is L and the auxiliary line interval is S. The travel control unit causes the work vehicle to autonomously travel along at least a part of the second reference auxiliary line and second adjacent auxiliary lines.

Accordingly, by creating auxiliary lines with reference to the work area peripheral edge and making the work vehicle to autonomously travel along the auxiliary lines, it is possible to keep a constant work pitch in the headland area.

In the autonomous travel system, the following configuration is preferable. That is, the reference auxiliary line creation unit is capable of creating the first reference auxiliary line and is capable of creating a second reference auxiliary line. The adjacent auxiliary line creation unit is capable of creating the first adjacent auxiliary line and is capable of creating a second adjacent auxiliary line. Furthermore, the autonomous travel system further includes an auxiliary line selection unit that selects the first reference auxiliary line and first adjacent auxiliary lines or selects the second reference auxiliary line and second adjacent auxiliary lines. The travel control unit causes the work vehicle to autonomously travel along at least a part of the auxiliary lines selected by the auxiliary line selection unit.

Accordingly, it is possible to make the work vehicle autonomously travel in the headland area, based on either auxiliary lines with reference to the farm field peripheral edge or auxiliary lines with reference to the work area peripheral edge.

In the autonomous travel system, it is preferable that, in a case where an interval between the second adjacent auxiliary line and the farm field peripheral edge is narrower than <NUM>/<NUM> of the work width or <NUM>/<NUM> of the work machine width, the adjacent auxiliary line creation unit does not create the second adjacent auxiliary line or deletes the second adjacent auxiliary line after creation.

Accordingly, it is possible to prevent a path on which the work machine makes contact with the farm field peripheral edge or a path on which the work is performed outside the farm field from being created.

In the autonomous travel system, the following configuration is preferable. That is, the autonomous travel system includes a selection processing unit that performs a process of allowing a user to select in which of the work area and the headland area the work is to be performed and a process of allowing the user to select whether the work in the headland is to be performed or the work is to be ended. In a case where it is determined that the user has selected the work in the headland area, the travel control unit causes the work vehicle to autonomously travel along at least a part of the auxiliary lines created by the reference auxiliary line creation unit and the adjacent auxiliary line creation unit.

Accordingly, it is possible for the user to make the work vehicle autonomously travel in the headland area by performing a simple operation.

According to the third aspect of the present invention, an autonomous travel system having the following configuration is provided. That is, this autonomous travel system includes a farm field acquisition unit, an auxiliary line creation unit, a selection processing unit, and a travel control unit. The farm field acquisition unit obtains information of a farm field including a work area, in which a travel path for a work vehicle on which a work machine is mounted to autonomously travel to perform work is set, and a headland area, which is formed between the work area and a farm field peripheral edge. The auxiliary line creation unit creates an auxiliary line for causing the work vehicle to autonomously travel in the headland area. The selection processing unit performs a process of allowing a user to select in which of the work area and the headland area the work is to be performed and a process of allowing the user to select whether the work in the headland is to be performed or the work is to be ended. The travel control unit causes the work vehicle to autonomously travel along at least a part of the auxiliary line created by the auxiliary line creation unit in a case where it is determined that the user has selected the work in the headland area.

Next, an autonomous travel system of an embodiment of the present invention will be explained. The autonomous travel system is for causing one or more work vehicles to autonomously travel in a farm field (travel area) and to execute all or a part of the work. Although a tractor is taken as an example of the work vehicle in the explanation of the present embodiment, the work vehicle can also include a walking-type work machine as well as a riding-type work machine such as a rice transplanter, combine, civil engineering/construction work device, or snowplow, other than a tractor. In the present specification, autonomous traveling means that a control unit (ECU) included in a tractor controls the traveling-related configuration included in the tractor so that at least steering is autonomously performed along a predetermined path. Further, such a configuration in which the vehicle speed or work by the work machine is autonomously performed in addition to steering is also possible. Autonomous traveling includes a case in which a person is on board the tractor and a case in which no person is on board the tractor.

Next, with reference to <FIG>, a specific explanation is given of the autonomous travel system <NUM>. <FIG> is a side view illustrating the overall configuration of the tractor <NUM>. <FIG> is a plan view of the tractor <NUM>. <FIG> is a block diagram illustrating a main configuration of the control system of the autonomous travel system <NUM>.

The tractor <NUM> illustrated in <FIG> is used in the autonomous travel system <NUM> and is operated by performing wireless communication with the wireless communication terminal <NUM>. The tractor <NUM> includes a travel machine body (vehicle body part) <NUM> capable of autonomously traveling in the farm field. For example, a work machine <NUM> for performing agricultural work is detachably attached to the travel machine body <NUM>.

As this work machine <NUM>, for example, there are various work machines such as a tiller, plow, fertilizer applicator, mower, and seeder, and the work machine <NUM> selected from these is mounted on the travel machine body <NUM>. In <FIG> and <FIG>, an example in which a tiller is attached as the work machine <NUM> is illustrated. The tiller includes the tillage claw 3b arranged inside the cover 3a, and this tillage claw 3b rotates around the vehicle width direction as the rotation center, in order to till the farm field. Here, the width (length in the vehicle width direction) in which the work machine <NUM> performs the work is referred to as the work width W1, and the length in the vehicle width direction of the work machine <NUM> is referred to as the work machine width W2. In the tiller having the shape illustrated in <FIG>, the width of the tillage claw 3b corresponds to the work width W1, and the width of the cover 3a corresponds to the work machine width W2. Since the tiller includes the tillage claw 3b arranged inside the cover 3a, the work width W1 is narrower than the work machine width W2. However, for example, in a case where a fertilizer applicator that sprays chemicals so that the chemicals are spread in the width direction is attached as the work machine <NUM>, the work width W1 may be wider than the work machine width W2. In this way, which of the work width W1 and the work machine width W2 is wider differs, depending on the work machine <NUM> and the contents of the work. Further, the travel machine body <NUM> is capable of changing the height and posture of the mounted work machine <NUM>.

With reference to <FIG> and <FIG>, more detailed explanation is given of the configuration of the tractor <NUM>. As illustrated in <FIG>, regarding the travel machine body <NUM> of the tractor <NUM>, the front part thereof is supported by the left and right pair of front wheels (wheels) <NUM> and <NUM> and the rear part thereof is supported by the left and right pair of rear wheels <NUM> and <NUM>.

The bonnet <NUM> is arranged at the front part of the travel machine body <NUM>. The engine <NUM>, which is the drive source of the tractor <NUM>, and a fuel tank (illustration omitted) are housed in this bonnet <NUM>. For example, this engine <NUM> can be configured with a diesel engine, but this engine <NUM> is not limited as such and may be configured with a gasoline engine, for example. In addition, as the drive source, an electric motor may be used in addition to or instead of the engine.

The cabin <NUM> for the user to board is arranged behind the bonnet <NUM>. Inside this cabin <NUM>, the steering handle (steering tool) <NUM> for the user to perform steering, the seat <NUM> that the user can sit on, and various operation tools for performing various kinds of operations are mainly provided. However, the work vehicle such as the tractor <NUM> may or may not be provided with a cabin <NUM>.

As illustrated in <FIG>, the above-described operation tools include, for example, the monitor device <NUM>, the throttle lever <NUM>, the main transmission lever <NUM>, the multiple hydraulic operation levers <NUM>, the PTO switch <NUM>, the PTO transmission lever <NUM>, the sub transmission lever <NUM>, the forward-reverse traveling switching lever <NUM>, the parking brake <NUM>, the work machine raising-lowering switch <NUM>, etc. These operation devices are arranged in the vicinity of the seat <NUM> or in the vicinity of the steering handle <NUM>.

The monitor device <NUM> is capable of displaying various kinds of information of the tractor <NUM>. The throttle lever <NUM> is an operation tool for setting the rotation speed of the engine <NUM>. The main transmission lever <NUM> is an operation tool for steplessly changing the traveling speed of the tractor <NUM>. The hydraulic operation lever <NUM> is an operation tool for an operation of switching an illustration-omitted external hydraulic pressure take-out valve. The PTO switch <NUM> is an operation tool for switching between transmission and cut-off of power to an illustration-omitted PTO shaft (power take-off shaft), which protrudes from the rear end of the transmission <NUM>. That is, when the PTO switch <NUM> is in the ON state, power is transmitted to the PTO shaft so that the PTO shaft rotates and the work machine <NUM> is driven whereas, when the PTO switch <NUM> is in the OFF state, the power to the PTO shaft is cut off so that the PTO shaft does not rotate and the work machine <NUM> is stopped. The PTO transmission lever <NUM> is for an operation of changing the power to be input to the work machine <NUM> and, specifically, is an operation tool for performing a transmission operation for the rotation speed of the PTO shaft. The sub transmission lever <NUM> is an operation tool for switching the gear ratio of a traveling sub transmission gear mechanism in the transmission <NUM>. The forward-reverse traveling switching lever <NUM> is switchable among a forward-traveling position, a neutral position, and a reverse-traveling position. In a case where the forward-reverse traveling switching lever <NUM> is positioned in the forward-traveling position, the power of the engine <NUM> is transmitted to the rear wheels <NUM> so that the tractor <NUM> travels forward. In a case where the forward-reverse traveling switching lever <NUM> is positioned in the neutral position, the tractor <NUM> does not travel forward or backward. In a case where the forward-reverse traveling switching lever <NUM> is positioned in the reverse-traveling position, the power of the engine <NUM> is transmitted to the rear wheels <NUM> so that the tractor <NUM> travels backward. The parking brake (braking operation tool) <NUM> is an operation tool that is manually operated by the user to generate a braking force and, for example, is used in a case of stopping the tractor <NUM> for a while. The work machine raising-lowering switch <NUM> is an operation tool for an operation of raising and lowering the height of the work machine <NUM> mounted on the travel machine body <NUM> within a predetermined range.

As illustrated in <FIG>, the chassis <NUM> of the tractor <NUM> is disposed at the lower part of the travel machine body <NUM>. The chassis <NUM> is configured with the machine body frame <NUM>, the transmission <NUM>, the front axle <NUM>, the rear axle <NUM>, etc..

The machine body frame <NUM> is a support member at the front part of the tractor <NUM> and supports the engine <NUM> directly or via an anti-vibration member or the like. The transmission <NUM> transforms the power from the engine <NUM> and transmits the power to the front axle <NUM> and the rear axle <NUM>. The front axle <NUM> transmits the power that is input from the transmission <NUM> to the front wheels <NUM>. The rear axle <NUM> transmits the power that is input from the transmission <NUM> to the rear wheels <NUM>.

As illustrated in <FIG>, the tractor <NUM> includes the control unit <NUM>. The control unit <NUM> is configured as an ordinary computer and includes an illustration-omitted arithmetic device such as a CPU, a storage device such as a non-volatile memory, an input-output unit, etc. The storage device stores various kinds of programs, data related to the control of the tractor <NUM>, etc. The arithmetic device is capable of reading various kinds of programs from the storage device and executing the programs. By the cooperation of the above-described hardware and software, the control unit <NUM> can be operated as a travel control unit 4a and a work machine control unit 4b. The travel control unit 4a controls the traveling (forward traveling, reverse traveling, stopping, turning, etc.) of the travel machine body <NUM>. The work machine control unit 4b controls the operation (raising/lowering, driving, stopping, etc.) of the work machine <NUM>. Note that the control unit <NUM> can also perform controls other than the above (for example, analysis of captured images, etc.). Further, the control unit <NUM> can be configured with one computer or configured with multiple computers.

The travel control unit 4a performs vehicle speed control for controlling the vehicle speed of the tractor <NUM> and steering control for steering the tractor <NUM>. In a case of controlling the vehicle speed, the control unit <NUM> controls at least one of the rotation speed of the engine <NUM> and the gear ratio of the transmission <NUM>.

Specifically, the engine <NUM> is provided with a governor device <NUM> including an illustration-omitted actuator for changing the rotation speed of the engine <NUM>. The travel control unit 4a is capable of controlling the rotation speed of the engine <NUM> by controlling the governor device <NUM>. Further, the fuel injection device <NUM> for adjusting the injection timing and injection amount of fuel to be injected (supplied) into the combustion chamber of the engine <NUM> is installed in the engine <NUM>. By controlling the fuel injection device <NUM>, the travel control unit 4a is capable of stopping the supply of fuel to the engine <NUM> and stopping the driving of the engine <NUM>, for example.

Further, the transmission <NUM> is provided with the transmission device <NUM>, which is a hydraulic continuously-variable transmission device with a movable swash plate, for example. The travel control unit 4a changes the gear ratio of the transmission <NUM> by changing the angle of the swash plate of the transmission device <NUM> by use of an illustration-omitted actuator. By performing the above processing, the tractor <NUM> is changed to a target vehicle speed.

In a case of performing the steering control, the travel control unit 4a controls the rotation angle of the steering handle <NUM>. Specifically, the steering actuator <NUM> is disposed in the middle part of the rotation shaft (steering shaft) of the steering handle <NUM>. With this configuration, in a case where the tractor <NUM> travels on a predetermined path, the control unit <NUM> calculates an appropriate rotation angle of the steering handle <NUM> so that the tractor <NUM> travels along the path and controls the rotation angle of the steering handle <NUM> to the obtained rotation angle by driving the steering actuator <NUM>.

The work machine control unit 4b switches between driving and stopping of the work machine <NUM> by controlling the PTO switch <NUM>, based on whether or not a work execution condition is satisfied. Further, the work machine control unit 4b controls raising and lowering of the work machine <NUM>. Specifically, the tractor <NUM> is provided with the raising-lowering actuator <NUM>, which is configured with a hydraulic cylinder, etc., in the vicinity of a three-point link mechanism that connects the work machine <NUM> to the travel machine body <NUM>. The work machine control unit 4b drives the raising-lowering actuator <NUM> to cause the work machine <NUM> to perform a raising-lowering operation as appropriate, so that it is possible to perform the work with the work machine <NUM> at a desired height.

The tractor <NUM> provided with the control unit <NUM> as described above controls each part of the tractor <NUM> (the travel machine body <NUM>, the work machine <NUM>, etc.) by the control unit <NUM> without a user boarding the cabin <NUM> and performing various operations, so that the tractor <NUM> can autonomously perform work while autonomously traveling in the farm field.

Next, an explanation is given of a configuration for acquiring information necessary for autonomous traveling. Specifically, as illustrated in <FIG>, etc., the tractor <NUM> of the present embodiment includes the positioning antenna <NUM>, the wireless communication antenna <NUM>, the front camera <NUM>, the rear camera <NUM>, the vehicle speed sensor <NUM>, the steering angle sensor <NUM>, etc. Further, in addition to the above, the tractor <NUM> includes an inertial measurement unit (IMU) capable of specifying the posture (roll angle, pitch angle, yaw angle) of the travel machine body <NUM>.

The positioning antenna <NUM> receives a signal from a positioning satellite that configures a positioning system such as a satellite positioning system (GNSS). As illustrated in <FIG>, the positioning antenna <NUM> is attached to the upper surface of the roof <NUM> of the cabin <NUM> of the tractor <NUM>. The positioning signal received by the positioning antenna <NUM> is input to the position information acquisition unit <NUM> illustrated in <FIG>, which is a position detection unit. The position information acquisition unit <NUM> calculates and acquires the position information of the travel machine body <NUM> of the tractor <NUM> (strictly speaking, the positioning antenna <NUM>) as latitude/longitude information, for example. The position information acquired by the position information acquisition unit <NUM> is input to the control unit <NUM> and utilized for autonomous traveling.

Note that, although a high-precision satellite positioning system utilizing the GNSS-RTK method is used in the present embodiment, the present embodiment is not limited as such, and it is also possible to use other positioning systems as long as high-precision position coordinates can be obtained. For example, a relative positioning system (DGPS) or a geosynchronous satellite navigation augmentation system (SBAS) may be used.

The wireless communication antenna <NUM> is for receiving a signal from the wireless communication terminal <NUM> operated by the user and for transmitting a signal to the wireless communication terminal <NUM>. As illustrated in <FIG>, the wireless communication antenna <NUM> is attached to the upper surface of the roof <NUM> provided on the cabin <NUM> of the tractor <NUM>. The signal from the wireless communication terminal <NUM> received by the wireless communication antenna <NUM> is signal-processed by the wireless communication unit <NUM> illustrated in <FIG> and then input to the control unit <NUM>. Further, the signal transmitted from the control unit <NUM>, etc., to the wireless communication terminal <NUM> is signal-processed by the wireless communication unit <NUM> and then transmitted from the wireless communication antenna <NUM> to be received by the wireless communication terminal <NUM>.

The front camera <NUM> is for capturing an image in the front of the tractor <NUM>. The rear camera <NUM> is for capturing an image in the rear of the tractor <NUM>. The front camera <NUM> and the rear camera <NUM> are attached to the roof <NUM> of the tractor <NUM>. Video data captured by the front camera <NUM> and the rear camera <NUM> is transmitted from the wireless communication antenna <NUM> to the wireless communication terminal <NUM> by the wireless communication unit <NUM>. The wireless communication terminal <NUM> that has received the video data displays the contents on the display <NUM>.

The above-described vehicle speed sensor <NUM> is for detecting the vehicle speed of the tractor <NUM> and is provided on an axle between the front wheels <NUM> and <NUM>, for example. The data of a detection result obtained by the vehicle speed sensor <NUM> is output to the control unit <NUM>. Note that it is also possible that the vehicle speed of the tractor <NUM> is not detected by the vehicle speed sensor <NUM> but is calculated based on the moving time period of the tractor <NUM> in a predetermined distance based on the positioning antenna <NUM>. The steering angle sensor <NUM> is a sensor that detects the steering angle of the front wheels <NUM> and <NUM>. In the present embodiment, the steering angle sensor <NUM> is provided on an illustration-omitted kingpin provided on the front wheels <NUM> and <NUM>. The data of a detection result obtained by the steering angle sensor <NUM> is output to the control unit <NUM>. Note that a configuration in which the steering angle sensor <NUM> is provided on the steering shaft is also possible.

As illustrated in <FIG>, the wireless communication terminal <NUM> includes the display <NUM> and the touchscreen <NUM>. The wireless communication terminal <NUM> is a tablet terminal but can be a smartphone, a laptop PC, or the like. Note that, in a case of making the tractor <NUM> autonomously travel in a state where the user is on board the tractor <NUM>, it is also possible that the same function as the wireless communication terminal <NUM> is provided on the tractor <NUM> side (for example, the control unit <NUM>). The user can refer to and check the information displayed on the display <NUM> of the wireless communication terminal <NUM> (for example, information from the front camera <NUM>, the rear camera <NUM>, the vehicle speed sensor <NUM>, etc.). In addition, the user can operate the above-described touchscreen <NUM>, an illustration-omitted hardware key, or the like, so as to transmit a control signal (for example, a pause signal, etc.) for controlling the tractor <NUM> to the control unit <NUM> of the tractor <NUM>.

The wireless communication terminal <NUM> includes an illustration-omitted arithmetic device such as a CPU, a storage device such as a non-volatile memory, an input-output unit, etc. The storage device stores various kinds of programs, data related to travel paths, etc. The arithmetic device is capable of reading various kinds of programs from the storage device and executing the programs. By the cooperation of the above-described hardware and software, the wireless communication terminal <NUM> can be operated as the display control unit <NUM>, the farm field acquisition unit <NUM>, the travel path creation unit <NUM>, the reference auxiliary line creation unit (auxiliary line creation unit) <NUM>, the adjacent auxiliary line creation unit (auxiliary line creation unit) <NUM>, the auxiliary line selection unit <NUM>, and the selection processing unit <NUM> (specific processing will be described later).

The display control unit <NUM> creates display data to be displayed on the display <NUM> and controls the display contents as appropriate. For example, the display control unit <NUM> displays a predetermined monitoring screen, instruction screen, or the like on the display <NUM> while the tractor <NUM> is caused to autonomously travel along a travel path.

The farm field acquisition unit <NUM> acquires the position and shape of a target farm field in which the tractor <NUM> performs autonomous traveling from the storage device. The position and shape of the farm field are created based on the transition of the position information of the positioning antenna <NUM> when the tractor <NUM> is caused to travel along the periphery of the farm field. Note that it is also possible that, without causing the tractor <NUM> to actually travel, the user designates a range on a map displayed on the display <NUM> so that the position and shape of the farm field are created, for example. Further, although the information related to the farm field is stored in the wireless communication terminal <NUM> in the present embodiment, it is also possible that the information related to the farm field is stored in a server that is physically distant from the wireless communication terminal <NUM>. In this case, the farm field acquisition unit <NUM> acquires information related to the farm field from this server.

Here, with reference to <FIG>, a brief explanation is given of the farm field. The farm field includes a work area and a headland area. The work area is located in the central part of the farm field and is an area for performing work (the area of which the main purpose is to perform work). The headland area is located outside the work area and is an area to be used for properly performing work in the work area. For example, the headland area is used for moving the tractor <NUM> that has entered the farm field to the start position of work in the work area. In addition, the headland area is also used for turning the tractor <NUM> that has travelled straight in the work area. Further, in the present embodiment, the work is performed not only on the work area but also on the headland area. Specifically, the tractor <NUM> travels in the work area to perform the work, and then the tractor <NUM> travels in the headland area to perform the work.

The travel path creation unit <NUM> creates a travel path for performing the work in the work area. In the present embodiment, the travel path creation unit <NUM> creates the straight paths <NUM> and the turning paths <NUM> illustrated in <FIG>, based on various kinds of settings made by the user using the wireless communication terminal <NUM>. The straight paths <NUM> are parallel to one side (short side) of the farm field peripheral edge and the work area peripheral edge. The arrangement interval of the straight paths <NUM> corresponds to the value obtained by subtracting the overlap amount (the length indicating how much adjacent work ranges overlap in the vehicle width direction) from the work width W1 or the value obtained by adding the work interval (the length indicating how much interval is provided between adjacent work ranges in the vehicle width direction) to the work width W1. Further, a turning path <NUM> is a path connecting straight paths <NUM> to each other. Although a turning path <NUM> connects adjacent straight paths <NUM> to each other in the present embodiment, it is also possible that a turning path <NUM> connects distant straight paths <NUM> to each other. Further, a turning path <NUM> of the present embodiment is a path on which the tractor <NUM> is caused to turn around by making a turn by <NUM> degrees, then traveling backward, then switching to forward traveling, and then turning again by <NUM> degrees, so that the tractor <NUM> reaches the next straight path <NUM>. However, instead of this type of turning path <NUM>, it is also possible to create a turning path on which the tractor <NUM> is caused to turn around by making a turn by <NUM> degrees, so that the tractor <NUM> reaches the next straight path <NUM>. The travel paths created in this way are stored in the wireless communication terminal <NUM>.

The user appropriately operates the wireless communication terminal <NUM> to input (transfer) the information of the travel paths created by the travel path creation unit <NUM> to the control unit <NUM> of the tractor <NUM>. Thereafter, the user makes the tractor <NUM> travel and locates the tractor <NUM> at the start position of the travel paths. Subsequently, the user operates the wireless communication terminal <NUM> to provide an instruction for starting autonomous traveling. Accordingly, the tractor <NUM> performs work while traveling along the straight paths <NUM> and the turning paths <NUM>.

The reference auxiliary line creation unit <NUM> and the adjacent auxiliary line creation unit <NUM> perform a process of creating auxiliary lines to be used for autonomous traveling in the headland area. When the user performs a predetermined operation on the wireless communication terminal <NUM>, the tractor <NUM> autonomously travels along an auxiliary line. Note that, in the configuration of the present embodiment, turning, switching between driving and stopping of the work machine <NUM>, etc., in the headland area are performed based on an operation by the user and are not autonomously performed by the tractor <NUM>. Further, such a configuration in which the tractor <NUM> autonomously performs these processes is also possible. Note that the processing performed by the auxiliary line selection unit <NUM> and the selection processing unit <NUM> will be described later.

Hereinafter, the auxiliary lines created by the reference auxiliary line creation unit <NUM> and the adjacent auxiliary line creation unit <NUM> will be explained in detail. The reference auxiliary line creation unit <NUM> and the adjacent auxiliary line creation unit <NUM> are capable of creating two types of auxiliary lines according to instructions from the user, etc. The first auxiliary lines are auxiliary lines to be used in a case where such work in which it is required to eliminate remaining work (for example, tillage) is performed in the headland area. The second auxiliary lines are auxiliary lines to be used in a case where such work in which the work pitch is desired to be constant even though remaining work occurs (seeding, ridging, etc.) is performed in the headland area.

First, with reference to <FIG>, an explanation is given of the method for creating the first auxiliary lines. As illustrated in <FIG>, the first auxiliary lines include a first reference auxiliary line <NUM> and a first adjacent auxiliary line <NUM>.

First, the farm field acquisition unit <NUM> acquires information of the farm field for which the first auxiliary lines are created (S101). The information acquired here includes, for example, the positions of the peripheral edges (outlines) of the farm field, the work area, and the headland area.

Next, the reference auxiliary line creation unit <NUM> creates the first reference auxiliary line <NUM>, which is distant (offset) inward from the farm field peripheral edge (each side configuring the peripheral outline of the farm field) by the first reference interval T1 (S102). Therefore, the first reference auxiliary line <NUM> is parallel to the farm field peripheral edge (basically parallel to the work area peripheral edge as well). Further, since the first reference auxiliary line <NUM> is created for each side of the farm field peripheral edge, four first reference auxiliary lines <NUM> are created in a case where the farm field is a quadrangle. Further, as illustrated in <FIG>, the first reference interval T1 is <NUM>/<NUM> of the work width W1 or <NUM>/<NUM> of the work machine width W2. Note that it is preferable that the first reference interval T1 is <NUM>/<NUM> of the wider one of the work width W1 and the work machine width W2. Accordingly, in a case where the tractor <NUM> travels along the first reference auxiliary line <NUM>, it is possible to prevent the work from being performed outside the farm field and to prevent the work machine from getting out of the farm field.

Next, the adjacent auxiliary line creation unit <NUM> creates a first adjacent auxiliary line <NUM>, which is distant (offset) inward from the first reference auxiliary line <NUM> by the auxiliary line interval S (S103). Therefore, the first adjacent auxiliary line <NUM> is parallel to the first reference auxiliary line <NUM>. Further, as illustrated in <FIG>, the auxiliary line interval S corresponds to the value obtained by subtracting the overlap amount R from the work width W1 or the value obtained by adding the work interval D to the work width W1. Note that, although the overlap amount R and the work interval D correspond to the same values as those used when creating the straight paths <NUM>, it is also possible to use different values. Further, the auxiliary line interval S and the work width W1 may have the same value (in other words, the overlap amount R or the work interval D may be zero).

The adjacent auxiliary line creation unit <NUM> creates zero, one, or multiple first adjacent auxiliary lines <NUM>. The specific creating number is as follows. That is, the number of first auxiliary lines to be created for one side of the farm field peripheral edge (that is, the total number of first reference auxiliary lines <NUM> and first adjacent auxiliary lines <NUM> to be created) corresponds to the value obtained by rounding up the decimal places of the headland width L divided by the auxiliary line interval S. The headland width L is the distance from the farm field peripheral edge to the work area. By rounding up the decimal places, the work can be performed for the entire headland area (except for the work interval D for the work width W1). Depending on the conditions, the first adjacent auxiliary line <NUM> may be created on the work area (even in this case, the present path is for performing the work in the headland area). Further, in a case where the headland widths L are different depending on the sides of the farm field peripheral edge, the number of first auxiliary lines to be created may differ depending on the side.

Further, although the edge points of the first reference auxiliary lines <NUM> and the first adjacent auxiliary lines <NUM> are aligned with the farm field peripheral edge in the present embodiment, it is also possible that these edge points are set at positions different from the farm field peripheral edge (for example, distant positions). That is, since turning of the tractor <NUM> is started at the discretion of the user, there is no problem even though the first reference auxiliary lines <NUM> and the first adjacent auxiliary lines <NUM> are long.

Next, with reference to <FIG>, an explanation is given of the method for creating the second auxiliary lines. In the following explanation, the explanations for the parts common to the method for creating the first auxiliary lines may be simplified or omitted. As illustrated in <FIG>, the second auxiliary lines include a second reference auxiliary line <NUM> and a second adjacent auxiliary line <NUM>.

First, the farm field acquisition unit <NUM> acquires information of the farm field for which the second auxiliary lines are created (S201).

Next, the reference auxiliary line creation unit <NUM> creates the second reference auxiliary line <NUM>, which is distant (offset) outward from the work area peripheral edge by the second reference interval T2 (S202). Therefore, the second reference auxiliary line <NUM> is parallel to the work area peripheral edge (basically parallel to the farm field peripheral edge as well). Further, the second reference auxiliary line <NUM> is created for each side of the work area peripheral edge. Further, as illustrated in <FIG>, the second reference interval T2 corresponds to the value obtained by subtracting the overlap amount R from <NUM>/<NUM> of the work width W1 or the value obtained by adding the work interval D to <NUM>/<NUM> of the work width W1. Accordingly, the work can be started from an appropriate position outside the work area. Therefore, even if the work is performed while traveling in the headland area, the work will be performed only in the headland area and basically will not protrude into the work area.

Next, the adjacent auxiliary line creation unit <NUM> creates a second adjacent auxiliary line <NUM>, which is distant (offset) outward from the second reference auxiliary line <NUM> by the auxiliary line interval S (S203). Therefore, the second adjacent auxiliary line <NUM> is parallel to the second reference auxiliary line <NUM>.

The adjacent auxiliary line creation unit <NUM> creates zero, one, or multiple second adjacent auxiliary lines <NUM>. The specific creating number is as follows. That is, the number of second auxiliary lines to be created for one side of the farm field peripheral edge (that is, the total number of second reference auxiliary lines <NUM> and second adjacent auxiliary lines <NUM> to be created) corresponds to the value obtained by rounding down the decimal places of the headland width L divided by the auxiliary line interval S. By rounding down the decimal places, it is possible to keep a constant work pitch while preventing the work from being performed outside the farm field although there is a possibility that a remaining work occurs. Further, in a case where the headland widths L are different depending on the sides of the farm field peripheral edge, the number of second auxiliary lines to be created may differ depending on the side. Further, the length of the second auxiliary lines can be changed as appropriate as in the case of the first auxiliary lines.

Next, the adjacent auxiliary line creation unit <NUM> determines whether or not the interval X between the outermost peripheral second adjacent auxiliary line <NUM> and the farm field peripheral edge is narrower than <NUM>/<NUM> of the work width W1 or <NUM>/<NUM> of the work machine width W2 (S204). Here, in a case where the interval X is narrower than <NUM>/<NUM> of the work width W1, there is a possibility that the work will be performed outside the farm field and, in a case where the interval X is narrower than <NUM>/<NUM> of the work machine width W2, there is a possibility that the work machine <NUM> will get outside the farm field. Therefore, in a case of Yes in Step S204, the adjacent auxiliary line creation unit <NUM> deletes the outermost peripheral second adjacent auxiliary line <NUM> (S205). Further, it is preferable to set the condition that the interval X is narrower than both, not either one, of <NUM>/<NUM> of the work width W1 and <NUM>/<NUM> of the work machine width W2. Note that, in a case of No in Step S204, the outermost peripheral second adjacent auxiliary line <NUM> will not be deleted.

Therefore, the number of second auxiliary lines to be finally created corresponds to "the value obtained by rounding down the decimal places of the headland width L divided by the auxiliary line interval S or the value obtained by subtracting <NUM> from that value". Further, in the configuration of the present embodiment, after the second adjacent auxiliary lines <NUM> are created under the condition of Step S203, whether or not it is necessary to delete the outermost peripheral second adjacent auxiliary line <NUM> is determined in Step S204. Alternatively, such a configuration in which the second adjacent auxiliary line <NUM> that satisfies the deletion condition of Step S204 is not created in the first place is also possible (in other words, it is also possible that a process similar to Steps S204 and S205 is incorporated in Step S203).

Next, a brief explanation is given of parallel movement of auxiliary lines. The first auxiliary lines are created with reference to the farm field peripheral edge. Therefore, for example, in a case where the position of the farm field peripheral edge is changed, the first auxiliary lines move in parallel accordingly. Further, since the first auxiliary lines correspond to each side of the farm field peripheral edge, for example, in a case where the position of one side of the farm field peripheral edge is changed, the positions of the first auxiliary lines corresponding to that side will be changed. Note that, for example, in a case where the headland width L is also changed, the processing of <FIG> will be performed again so that the first reference auxiliary lines <NUM> and the first adjacent auxiliary lines <NUM> will be created again.

Further, since the second auxiliary lines are different only in that the reference line is the work area peripheral edge, not the farm field peripheral edge, in a case where the position of the work area peripheral edge is changed, the same processing as with the first auxiliary lines will be performed.

Next, with reference to <FIG> and <FIG>, an explanation is given of a specific flow of processing related to the work in the work area and the headland area. <FIG> is a flowchart illustrating the processing related to the work in the work area and the headland area. <FIG> is a diagram illustrating an image displayed on the wireless communication terminal <NUM> after paths are created.

After a registration of a farm field is completed, the user inputs information for creating a path for work in the work area and the headland area (for example, the work width W1, the work machine width W2, the work machine type, the start position, the end position, etc.) to the wireless communication terminal <NUM>. Thereafter, the travel path creation unit <NUM> creates a travel path for work in the work area (S301). Further, the reference auxiliary line creation unit <NUM> and the adjacent auxiliary line creation unit <NUM> create auxiliary lines for work in the headland area (S302). Note that, in a case where the processes of Steps S301 and S302 is performed in advance, the wireless communication terminal <NUM> skips the processes of Steps S301 and S302 and firstly performs the process of Step S303.

In Step S302, such a configuration in which the wireless communication terminal <NUM> creates both first auxiliary lines and second auxiliary lines and such a configuration in which the wireless communication terminal <NUM> creates either first auxiliary lines or second auxiliary lines are both possible. Note that, in a case where either of the auxiliary lines are to be created, it is possible that the wireless communication terminal <NUM> (auxiliary line selection unit <NUM>) selects the auxiliary lines to be created. The wireless communication terminal <NUM> creates either of the auxiliary lines that are more suitable for the work machine <NUM> according to the type of the work machine <NUM> registered in advance. For example, in a case where the work machine <NUM> to be used is a tiller, since it is important to eliminate remaining work, the first auxiliary lines are selected and created. On the other hand, in a case where the work machine <NUM> to be used is a fertilizer applicator, since it is important to keep a constant work pitch even though remaining work occurs, the second auxiliary lines are selected and created.

Next, as illustrated in <FIG>, the wireless communication terminal <NUM> (display control unit <NUM>) displays the travel paths for work in the work area (the straight paths <NUM> and the turning paths <NUM>) and the auxiliary lines for work in the headland area (the first reference auxiliary line <NUM> and the first adjacent auxiliary lines <NUM>) on the display <NUM> (S303). For example, in Step S302, in a case where both first auxiliary lines and second auxiliary lines are created, the wireless communication terminal <NUM> displays either or both of the auxiliary lines on the display <NUM>. Further, in a case of displaying either of the auxiliary lines, it is possible that the auxiliary line selection unit <NUM> selects the auxiliary lines to be displayed in the same manner as described above.

Further, the wireless communication terminal <NUM> (selection processing unit <NUM>) displays a screen for asking the user in which of "work area" and "headland area" the work is to be performed and accepts the selection by the user (S303). Although there may be various display formats of this screen, for example, such a configuration in which the user is made to select an area (or a travel path or auxiliary line on an area) displayed as a figure on the display <NUM> as illustrated in <FIG> and such a configuration in which the user is made to select an item displayed with characters as "work area", "headland area", or the like are both possible. The user selects "work area" in a case where the work in the work area is not completed. On the other hand, the user selects "headland area" in a case where the work in the work area has already been completed.

In a case where it is determined that "work area" has been selected by the user (in a case of Yes in Step S304), the wireless communication terminal <NUM> executes the work in the work area (S305). Specifically, the tractor <NUM> (travel control unit 4a) is instructed to autonomously travel along the created travel paths (the straight paths <NUM> and turning paths <NUM>). Note that, in a case where the work in the work area is performed, such a configuration in which whether a manned mode, in which the user boards the tractor <NUM>, or an unmanned mode, in which the user does not board the tractor <NUM>, can be further selected is also possible.

After the work in the work area is completed, the wireless communication terminal <NUM> (selection processing unit <NUM>) displays a screen that allows the user to select either "work in the headland area" or "end of work" and accepts the selection by the user (S306). In a case where the user wishes to perform the work in the headland area currently, the user selects "work in the headland area". On the other hand, in a case where the user wishes to perform the work in the headland area later or in a case where the work in the headland area itself is unnecessary, the user selects "end of work".

In a case where it is determined that "work in the headland area" has been selected (in a case of Yes in Step S307), the wireless communication terminal <NUM> executes the work in the headland area (S308). Further, in a case where the "headland area" is selected in Step S304 (that is, in a case where "work area" is not selected / in a case of No in Step S304), the wireless communication terminal <NUM> executes the work in the headland area as well (S308). Specifically, the tractor <NUM> (the travel control unit 4a) is instructed to autonomously travel along the created first auxiliary lines (the first reference auxiliary line <NUM> and first adjacent auxiliary lines <NUM>) or second auxiliary lines (the second reference auxiliary line <NUM> and second adjacent auxiliary lines <NUM>). For example, in Step S302, in a case where both the first auxiliary lines and the second auxiliary lines are created by the wireless communication terminal <NUM>, it is also possible that the auxiliary line selection unit <NUM> selects the auxiliary lines to be used in the work in the headland area as described above. Alternatively, it is also possible that the user is allowed to select on which of the first auxiliary lines and the second auxiliary lines the work is to be performed. In this case, the auxiliary line selection unit <NUM> performs a process of selecting either of the auxiliary lines according to the operation by the user on the touchscreen <NUM>, etc..

In a case where the work in the headland area is completed and in a case where "end of work" is selected in Step S307, the work in the farm field by the tractor <NUM> is completed (suspend).

Next, with reference to <FIG> and <FIG>, an explanation is given of the display of travel paths and auxiliary lines on the wireless communication terminal <NUM>. Note that, in the following explanation, first auxiliary lines and second auxiliary lines are collectively referred to as auxiliary lines.

As illustrated in <FIG>, in a case where the tractor <NUM> is autonomously traveling along travel paths, the travel paths and the auxiliary lines are displayed so that the travel paths are more conspicuous than the auxiliary lines. Although the travel paths are made conspicuous by thickening the line width in the example illustrated in <FIG>, it is also possible to make the colors different or make the line types (solid line, broken line, chain line) different. On the other hand, in a case where the tractor <NUM> is autonomously traveling along auxiliary lines, the travel paths and the auxiliary lines are displayed so that the auxiliary lines are more conspicuous than the travel paths as illustrated in <FIG>. Note that, even in a case where the tractor <NUM> is not traveling, the display formats for the travel paths and the auxiliary lines can be made different. Accordingly, it is easier for the user to check the paths.

As explained above, the autonomous travel system <NUM> of the present embodiment includes the farm field acquisition unit <NUM>, the reference auxiliary line creation unit <NUM>, the adjacent auxiliary line creation unit <NUM>, and the travel control unit 4a. The farm field acquisition unit <NUM> acquires information of a farm field including a work area, in which a travel path for the tractor <NUM> on which the work machine <NUM> is mounted to autonomously travel to perform work is set, and a headland area, which is formed between the work area and the farm field peripheral edge. The reference auxiliary line creation unit <NUM> creates the first reference auxiliary line <NUM> in the headland area at a position that is distant inward from the farm field peripheral edge by the first reference interval T1, which corresponds to <NUM>/<NUM> of the work width W1 or <NUM>/<NUM> of the work machine width W2. The adjacent auxiliary line creation unit <NUM> creates a first adjacent auxiliary line <NUM> at a position that is distant inward from the first reference auxiliary line <NUM> by the auxiliary line interval S, which corresponds to the value obtained by subtracting the overlap amount R from the work width W1 or the value obtained by adding the work interval D to the work width W1. The total number of the first reference auxiliary lines <NUM> and the first adjacent auxiliary lines <NUM> to be created inside of a predetermined side of the farm field peripheral edge corresponds to the value obtained by rounding up the decimal spaces of the headland width L divided by the auxiliary line interval S. The travel control unit 4a causes the tractor <NUM> to autonomously travel along at least a part of the first reference auxiliary lines <NUM> and the first adjacent auxiliary lines <NUM>.

Accordingly, by creating the first auxiliary lines with reference to the farm field peripheral edge and causing the tractor <NUM> to autonomously travel along the first auxiliary lines, it is possible to prevent remaining work from occurring in the headland area.

Further, the autonomous travel system <NUM> of the present embodiment includes the farm field acquisition unit <NUM>, the reference auxiliary line creation unit <NUM>, the adjacent auxiliary line creation unit <NUM>, and the travel control unit 4a. The farm field acquisition unit <NUM> acquires information of a farm field including a work area, in which a travel path for the tractor <NUM> on which the work machine <NUM> is mounted to autonomously travel to perform work is set, and a headland area, which is formed between the work area and the farm field peripheral edge. The reference auxiliary line creation unit <NUM> creates the second reference auxiliary line <NUM> in the headland area at a position that is distant outward from the work area peripheral edge by the second reference interval T2, which corresponds to the value obtained by subtracting the overlap amount R from <NUM>/<NUM> of the work width W1 or the value obtained by adding the work interval D to <NUM>/<NUM> of the work width W1. The adjacent auxiliary line creation unit <NUM> creates a second adjacent auxiliary line <NUM> at a position that is distant outward from the second reference auxiliary line <NUM> by the auxiliary line interval S, which corresponds to the value obtained by subtracting the overlap amount R from the work width W1 or the value obtained by adding the work interval D to the work width W1. The total number of the second reference auxiliary lines <NUM> and the second adjacent auxiliary lines <NUM> to be created outside of a predetermined side of the work area peripheral edge corresponds to the value obtained by rounding down the decimal places of the headland width L divided by the auxiliary line interval S or the value obtained by subtracting <NUM> from that value. The travel control unit 4a causes the tractor <NUM> to autonomously travel along at least a part of the second reference auxiliary lines <NUM> and the second adjacent auxiliary lines <NUM>.

Accordingly, by creating the second auxiliary lines with reference to the work area peripheral edge and causing the tractor <NUM> to autonomously travel along the auxiliary lines, it is possible to keep a constant work pitch in the headland area.

Further, in the autonomous travel system <NUM> of the present embodiment, the reference auxiliary line creation unit <NUM> is capable of creating the first reference auxiliary line <NUM> and is capable of creating the second reference auxiliary line <NUM> as well. The adjacent auxiliary line creation unit <NUM> is capable of creating the first adjacent auxiliary line <NUM> and is capable of creating the second adjacent auxiliary line <NUM> as well. Further, the autonomous travel system <NUM> further includes the auxiliary line selection unit <NUM> that selects the first reference auxiliary line <NUM> and first adjacent auxiliary lines <NUM> or selects the second reference auxiliary line <NUM> and second adjacent auxiliary lines <NUM>. The travel control unit 4a causes the tractor <NUM> to autonomously travel along at least a part of the auxiliary lines selected by the auxiliary line selection unit <NUM>.

Accordingly, it is possible to make the tractor <NUM> autonomously travel in the headland area, based on either first auxiliary lines with reference to the farm field peripheral edge or second auxiliary lines with reference to the work area peripheral edge.

Further, in the autonomous travel system <NUM> of the present embodiment, it is preferable that, in a case where the interval X between the second adjacent auxiliary line <NUM> and the farm field peripheral edge is narrower than <NUM>/<NUM> of the work width W1 or <NUM>/<NUM> of the work machine width W2, the adjacent auxiliary line creation unit <NUM> does not create the second adjacent auxiliary line <NUM> or delete the second adjacent auxiliary line <NUM> after creation.

Accordingly, it is possible to prevent a path on which the work machine <NUM> makes contact with the farm field peripheral edge or a path on which the work is performed outside the farm field from being created.

Further, the autonomous travel system <NUM> of the present embodiment includes the selection processing unit <NUM> that performs the process (S303) of allowing the user to select in which of the work area and the headland area the work is to be performed and performs the process (S306) of allowing the user to select whether the work in the headland area is to be performed or the work is to be ended. In a case where it is determined that the user has selected the work in the headland area, the travel control unit 4a causes the tractor <NUM> to autonomously travel along at least a part of the auxiliary lines created by the reference auxiliary line creation unit <NUM> and the adjacent auxiliary line creation unit <NUM>.

Accordingly, it is possible for the user to make the tractor <NUM> autonomously travel in the headland area by performing a simple operation.

Although preferred embodiments of the present invention have been described above, the above-described configurations can be modified as described below, for example.

Although the wireless communication terminal <NUM> of the above-described embodiments has a function of creating both first auxiliary lines and second auxiliary lines, such a configuration having a function of creating either first auxiliary lines or second auxiliary lines is also possible.

Claim 1:
An autonomous travel system comprising:
a farm field acquisition unit (<NUM>) that is configured to obtain information of a farm field including a work area and a headland area, wherein in the work area a travel path for a work vehicle (<NUM>) on which a work machine is mounted to autonomously travel to perform work is set, and wherein the headland area is formed between the work area and a farm field peripheral edge; and the autonomous travel system further comprises:
an auxiliary line creation unit (<NUM>, <NUM>) that is configured to create an auxiliary line for causing the work vehicle (<NUM>) to autonomously travel in the headland area;
characterized by
a selection processing unit (<NUM>) that is configured to perform a process of allowing a user to select in which of the work area and the headland area the work is to be performed, or the selection processing unit (<NUM>) is configured to perform a process of allowing a user, after the work in the work area is completed, to select whether a work in the headland area is to be performed or the work is to be ended without performing a work in the headland area; and
a travel control unit (4a) that is configured to cause the work vehicle (<NUM>) to autonomously travel along at least a part of the auxiliary line created by the auxiliary line creation unit, wherein the autonomous travel system further comprising:
a display control unit (<NUM>) configured to display the auxiliary line, wherein
the display control unit (<NUM>) is configured to display the format of the auxiliary line differently between when the work vehicle (<NUM>) is travelling autonomously in the work area and when the work vehicle (<NUM>) is travelling autonomously along the auxiliary line.