Patent Description:
Conventionally, as a work vehicle capable of autonomously traveling, there is known a work vehicle that autonomously travels in accordance with a target route only when traveling straight ahead and travels (manually travels) in response to manual steering (manual operation) by an operator when turning. Moreover, there is known a technique for outputting buzzer sound in order to prompt an operator to perform a switching operation from autonomous traveling to manual traveling when a vehicle approaches an end point of a straight route of autonomous traveling (for example, refer to Patent Document <NUM>).

Another example of the application in this field is described in <CIT>.

In a work vehicle that performs work while switching between autonomous traveling and manual traveling, an operator needs to temporarily stop the vehicle or stop an action of a work machine when switching from the autonomous traveling to the manual traveling. In the conventional art, since the operator needs to perform a predetermined operation when switching from the autonomous traveling to the manual traveling, there is such a problem that it takes time and effort or the operator forgets to perform the predetermined operation without noticing the buzzer sound.

An object of the present invention is to provide a traveling control method, a traveling control system, and a traveling control program that can improve the operability of an operator in a work vehicle that performs work while switching between autonomous traveling and manual traveling.

A traveling control method according to the present invention executes: accepting, from a user, an operation to set each of a plurality of action items related to actions to be executed by a work vehicle when the work vehicle reaches a predetermined position corresponding to an end point of a work route on which the work vehicle is caused to autonomously travel; and setting each of the plurality of action items on the basis of the operation of the user.

A traveling control system according to the present invention includes an acceptance processing unit and a setting processing unit. The acceptance processing unit accepts, from a user, an operation to set each of a plurality of action items related to actions to be executed by a work vehicle when the work vehicle reaches a predetermined position corresponding to an end point of a work route on which the work vehicle is caused to autonomously travel. The setting processing unit sets each of the plurality of action items on the basis of the operation of the user.

A traveling control program according to the present invention is a traveling control program for causing one or more processors to execute: accepting, from a user, an operation to set each of a plurality of action items related to actions to be executed by a work vehicle when the work vehicle reaches a predetermined position corresponding to an end point of a work route on which the work vehicle is caused to autonomously travel; and setting each of the plurality of action items on the basis of the operation of the user.

According to the present invention, a traveling control method, a traveling control system, and a traveling control program that can improve the operability of an operator in a work vehicle that performs work while switching between autonomous traveling and manual traveling can be provided.

An autonomous traveling system according to an embodiment of the present invention (an example of the traveling control system of the present invention) includes a work vehicle <NUM>, a satellite (not illustrated), and a base station (not illustrated). In the present embodiment, a case where the work vehicle <NUM> is a tractor will be described as an example. As another embodiment, the work vehicle <NUM> may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. In response to an operation of an operator (user), the work vehicle <NUM> performs predetermined work (for example, tillage work) while traveling in accordance with a target route in a field F (refer to <FIG>). Specifically, the work vehicle <NUM> travels straight ahead on the target route in response to autonomous steering and travels while turning in response to manual steering (driving operation) by the operator. The work vehicle <NUM> travels in the field F and performs work while switching between autonomous traveling on a straight route and manual traveling on a turning route. The target route may be generated in advance on the basis of the operation of the operator and stored as route data.

The work vehicle <NUM> travels in the field F illustrated in <FIG>, for example, while repeating straight traveling and turning traveling until the work is finished. A target route R for autonomous traveling includes a plurality of straight routes (work routes). The plurality of work routes are substantially parallel to one another. <FIG> illustrates work routes Ra1 to Ra12. For example, the work vehicle <NUM> sequentially executes autonomous traveling on the work route Ra1, manual traveling on a turning route Rc1, autonomous traveling on the work route Ra2, manual traveling on a turning route Rc2, and autonomous traveling on the work route Ra3. A reference sign A1 illustrated in <FIG> indicates a work trajectory (worked area) in which the work vehicle <NUM> has traveled and performed work.

The target route R illustrated in <FIG> is an example, and the target route R is appropriately determined according to a size of the work vehicle <NUM>, a width of a work machine <NUM> (work width), a width in which adjacent work areas overlap each other (lap width), work contents, a shape of the field F, and the like.

The autonomous traveling system may include an operation terminal (a tablet terminal, a smartphone, or the like) that is operated by the operator. The operation terminal can communicate with the work vehicle <NUM> via a communication network such as a cellular telephone line network, a packet line network, or a wireless LAN. For example, the operator performs an operation to register various types of information (work vehicle information, field information, work information, and the like) on the operation terminal. Moreover, in a location away from the work vehicle <NUM>, the operator can grasp traveling conditions, work conditions, and the like of the work vehicle <NUM> by a traveling trajectory displayed on the operation terminal. The operation terminal may be an operation device <NUM> (refer to <FIG>) arranged in the work vehicle <NUM>.

As illustrated in <FIG> and <FIG>, the work vehicle <NUM> includes a vehicle control device <NUM>, a storage unit <NUM>, a traveling device <NUM>, the work machine <NUM>, a communication unit <NUM>, a positioning device <NUM>, and the operation device <NUM>. The vehicle control device <NUM> is electrically connected to the storage unit <NUM>, the traveling device <NUM>, the work machine <NUM>, the positioning device <NUM>, the operation device <NUM>, and the like. The vehicle control device <NUM> and the positioning device <NUM> may be capable of performing wireless communication. Moreover, the vehicle control device <NUM> and the operation device <NUM> may be capable of performing wireless communication.

The communication unit <NUM> is a communication interface that connects the work vehicle <NUM> to a communication network by wire or wirelessly and executes data communication in accordance with a predetermined communication protocol with an external device (an operation terminal or the like) via the communication network.

The storage unit <NUM> is a non-volatile storage unit such as a hard disk drive (HDD) or a solid state drive (SSD) that stores various types of information. The storage unit <NUM> stores a control program such as an autonomous traveling program for causing the vehicle control device <NUM> to execute autonomous traveling processing described below (refer to <FIG>). For example, the autonomous traveling program is non-transiently recorded on a computer-readable recording medium such as a CD or a DVD and is read out by a predetermined reading device (not illustrated) to be stored in the storage unit <NUM>. The autonomous traveling program may be downloaded from a server (not illustrated) to the work vehicle <NUM> via a communication network to be stored in the storage unit <NUM>. Moreover, the storage unit <NUM> may store data of the target route generated in the operation device <NUM>.

The traveling device <NUM> is a driving unit that causes the work vehicle <NUM> to travel. As illustrated in <FIG>, the traveling device <NUM> includes an engine <NUM>, front wheels <NUM>, rear wheels <NUM>, a transmission <NUM>, a front axle <NUM>, a rear axle <NUM>, and a steering wheel <NUM>. Both the front wheels <NUM> and the rear wheels <NUM> are provided on the right and left of the work vehicle <NUM>. Moreover, the traveling device <NUM> is not limited to a wheel type including the front wheels <NUM> and the rear wheels <NUM> and may be a crawler type including crawlers provided on the right and left of the work vehicle <NUM>.

The engine <NUM> is a driving source such as a diesel engine or a gasoline engine driven by using fuel supplied to a non-illustrated fuel tank. The traveling device <NUM> may include an electric motor as a driving source, together with the engine <NUM> or instead of the engine <NUM>. A non-illustrated power generator is connected to the engine <NUM>, and electric power is supplied from the power generator to electric components such as the vehicle control device <NUM>, a battery, and the like which are provided in the work vehicle <NUM>. The battery is charged by the electric power supplied from the power generator. The electric components such as the vehicle control device <NUM>, the positioning device <NUM>, and the operation device <NUM> provided in the work vehicle <NUM> can be driven by the electric power supplied from the battery even after the engine <NUM> is stopped.

Driving force of the engine <NUM> is transmitted to the front wheels <NUM> via the transmission <NUM> and the front axle <NUM> and is transmitted to the rear wheels <NUM> via the transmission <NUM> and the rear axle <NUM>. Moreover, the driving force of the engine <NUM> is also transmitted to the work machine <NUM> via a PTO shaft (not illustrated). The traveling device <NUM> performs a traveling action according to a command of the vehicle control device <NUM>.

The work machine <NUM> is, for example, a tiller, a seeder, a mower, a plow, or a fertilizer applicator and is detachably mounted to the work vehicle <NUM>. Accordingly, the work vehicle <NUM> can perform various types of work using the respective work machines <NUM>. <FIG> illustrates a case where the work machine <NUM> is a tiller.

In the work vehicle <NUM>, the work machine <NUM> may be supported by a non-illustrated lifting-lowering mechanism so as to be lifted and lowered. The vehicle control device <NUM> can lift and lower the work machine <NUM> by controlling the lifting-lowering mechanism. For example, the vehicle control device <NUM> lowers the work machine <NUM> when the operator performs, by a lifting-lowering lever <NUM> (an example of a lifting-lowering operation tool of the present invention) (refer to <FIG>), an operation to lower the work machine <NUM> (for example, an operation to place the lifting-lowering lever <NUM> in a "lowering" position) and lifts the work machine <NUM> when the operator performs, by the lifting-lowering lever <NUM>, an operation to lift the work machine <NUM> (for example, an operation to place the lifting-lowering lever <NUM> in a "lifting" position). The lifting-lowering lever <NUM> is provided, for example, near the steering wheel <NUM> (refer to <FIG>), but may be provided at another position in a cabin <NUM>.

Moreover, the vehicle control device <NUM> outputs a work stop command to the work machine <NUM> when acquiring a work stop instruction. When acquiring the work stop instruction, the vehicle control device <NUM> stops driving of the PTO shaft to stop an action (work) of the work machine <NUM>.

The steering wheel <NUM> is an operation unit operated by the operator or the vehicle control device <NUM>. For example, the traveling device <NUM> changes an angle of the front wheels <NUM> by a hydraulic power steering mechanism (not illustrated) or the like in response to the operation of the steering wheel <NUM> by the operator or the vehicle control device <NUM> to change a direction of movement of the work vehicle <NUM>.

Moreover, the traveling device <NUM> includes a main speed change lever <NUM> (refer to <FIG>), a PTO switch <NUM>, a reverser lever, a shift lever, an accelerator, a clutch, and a brake. For example, the traveling device <NUM> increases a speed of the work vehicle <NUM> when the operator performs, by the main speed change lever <NUM> (an example of a speed operation tool of the present invention), a speed-increasing operation to increase the speed of the work vehicle <NUM> (for example, an operation to tilt the main speed change lever <NUM> backward) and decreases the speed of the work vehicle <NUM> when the operator performs, by the main speed change lever <NUM>, a speed-decreasing operation to decrease the speed of the work vehicle <NUM> (for example, an operation to tilt the main speed change lever <NUM> forward). The reverser lever is an operation tool for switching between forward movement and backward movement of the work vehicle <NUM> (an example of a direction operation tool of the present invention) and can be set to "forward," "neutral," and "backward.

Moreover, for example, the traveling device <NUM> transmits the driving force of the engine <NUM> to the work machine <NUM> via the PTO shaft to activate the work machine <NUM> when the operator performs an operation to set the PTO switch <NUM> (an example of a switching operation tool of the present invention) to ON (for example, an operation to place the PTO switch <NUM> in an "ON" position) and blocks the transmission of the driving force from the engine <NUM> to the work machine <NUM> to stop the action of the work machine <NUM> when the operator performs an operation to set the PTO switch <NUM> to OFF (for example, an operation to place the PTO switch <NUM> in an "OFF" position).

Moreover, the traveling device <NUM> brakes rotations of the front wheels <NUM> and the rear wheels <NUM> in response to an operation of the brake using an electromagnetic brake. Moreover, the traveling device <NUM> switches a gear of the transmission <NUM> to a forward gear, a backward gear, or the like in response to an operation of the shift lever and switches a traveling mode of the work vehicle <NUM> to forward, backward, or the like. Moreover, the traveling device <NUM> controls a rotation speed of the engine <NUM> in response to an operation of the accelerator. Moreover, the traveling device <NUM> brakes rotations of the front wheels <NUM> and the rear wheels <NUM> in response to an operation of the brake using an electromagnetic brake.

The above-described various operation tools for causing the work vehicle <NUM> to execute predetermined actions by the operator, such as the main speed change lever <NUM>, the PTO switch <NUM>, the reverser lever, the shift lever, the accelerator, the clutch, and the brake, are examples of the operation tools of the present invention.

The positioning device <NUM> is a communication device including a positioning control unit <NUM>, a storage unit <NUM>, a communication unit <NUM>, and a positioning antenna <NUM>. For example, as illustrated in <FIG>, the positioning device <NUM> is provided on an upper portion of the cabin <NUM> where the operator boards. Moreover, an installation location of the positioning device <NUM> is not limited to the cabin <NUM>. Furthermore, the positioning control unit <NUM>, the storage unit <NUM>, the communication unit <NUM>, and the positioning antenna <NUM> of the positioning device <NUM> may be separately arranged at different positions in the work vehicle <NUM>. As described above, the battery is connected to the positioning device <NUM>, so that the positioning device <NUM> can operate even when the engine <NUM> is stopped. Moreover, as the positioning device <NUM>, for example, a mobile phone terminal, a smartphone, a tablet terminal, or the like may be substituted.

The positioning control unit <NUM> is a computer system that includes one or more processors and a storage memory such as a non-volatile memory or a RAM. The storage unit <NUM> is a non-volatile memory or the like that stores a positioning control program for causing the positioning control unit <NUM> to execute positioning processing and data such as positioning information and movement information. For example, the positioning control program is non-transiently recorded on a computer-readable recording medium such as a CD or a DVD and is read out by a predetermined reading device (not illustrated) to be stored in the storage unit <NUM>. The positioning control program may be downloaded from a server (not illustrated) to the positioning device <NUM> via a communication network to be stored in the storage unit <NUM>.

The communication unit <NUM> is a communication interface that connects the positioning device <NUM> to a communication network by wire or wirelessly and executes data communication in accordance with a predetermined communication protocol with an external device such as a base station server via the communication network.

The positioning antenna <NUM> is an antenna that receives a radio wave (GNSS signal) transmitted from a satellite.

The positioning control unit <NUM> calculates a current position of the work vehicle <NUM> on the basis of GNSS signals that the positioning antenna <NUM> receives from satellites. For example, when the positioning antenna <NUM> receives, while the work vehicle <NUM> autonomously travels in the field F, radio waves (transmission time, orbit information, and the like) respectively transmitted from a plurality of satellites, the positioning control unit <NUM> calculates a distance between the positioning antenna <NUM> and each satellite and calculates a current position (latitude and longitude) of the work vehicle <NUM> on the basis of the calculated distance. Moreover, the positioning control unit <NUM> may perform positioning by a real-time kinematic method (RTK-GNSS positioning method (RTK method)) which calculates the current position of the work vehicle <NUM> using correction information corresponding to a base station (reference station) near the work vehicle <NUM>. As described above, the work vehicle <NUM> autonomously travels using positioning information by the RTK method. The current position of the work vehicle <NUM> may be the same as the positioning position (for example, the position of the positioning antenna <NUM>) or may be a position deviated from the positioning position.

The operation device <NUM> is a device that is operated by the operator boarding the work vehicle <NUM>, and displays various types of information and accepts operations of the operator. Specifically, the operation device <NUM> displays various setting screens to accept various setting operations from the operator and displays information about the traveling work vehicle <NUM>. A specific configuration of the operation device <NUM> will be described below.

The vehicle control device <NUM> has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for various types of processing executed by the CPU. The vehicle control device <NUM> controls the work vehicle <NUM> by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit <NUM>. Moreover, the vehicle control device <NUM> causes the CPU to execute various types of processing in accordance with the autonomous traveling program.

Specifically, the vehicle control device <NUM> controls the traveling of the work vehicle <NUM>. For example, when a traveling mode of the work vehicle <NUM> is manual traveling (manual traveling mode), the vehicle control device <NUM> causes the work vehicle <NUM> to manually travel on the basis of an operation of the operator (manual steering). For example, the vehicle control device <NUM> acquires operation information corresponding to driving operations by the operator, such as a steering wheel operation, a speed change operation, a shift operation, an accelerator operation, and a brake operation, and causes the traveling device <NUM> to execute the traveling action on the basis of the operation information.

Moreover, when the traveling mode of the work vehicle <NUM> is autonomous traveling (autonomous traveling mode), the vehicle control device <NUM> causes the work vehicle <NUM> to autonomously travel on the basis of position information (positioning information) indicating the current position of the work vehicle <NUM> positioned by the positioning control unit <NUM>. For example, when the work vehicle <NUM> satisfies an autonomous traveling start condition and acquires a traveling start instruction from the operator, the vehicle control device <NUM> starts the autonomous traveling of the work vehicle <NUM> on the basis of the positioning information. Moreover, the vehicle control device <NUM> causes the work vehicle <NUM> to autonomously travel in accordance with the target route R (work route) (refer to <FIG>) generated in advance.

Moreover, when the work vehicle <NUM> reaches an end (end point) of the work route, the vehicle control device <NUM> switches the traveling mode to the manual traveling. The vehicle control device <NUM> may switch the traveling mode to the manual traveling when determining that the work vehicle <NUM> has reached the end point or may switch the traveling mode to the manual traveling in response to an operation of the operator. When the traveling mode is switched to the manual traveling, for example, the operator causes the work vehicle <NUM> to travel while turning (manually travel) by manual steering (refer to <FIG>). The position of the end point of each work route is a position inside an end of the field F by a predetermined distance, a position specified in advance by the operator, a position aligned with the position where the operator has switched from the autonomous traveling to the manual traveling on an immediately preceding worked route (a position where the work route intersects with a line which passes through the position where the switching to the manual traveling has performed and is perpendicular to the worked route, or a position where the work route intersects with a line which passes through the position where the switching to the manual traveling has performed and is parallel to an edge line of the field F), a position where the work route intersects with a line which passes through the point B of the reference line L1 and is perpendicular to the reference line L1 (for example, position Pe in <FIG>), or the like.

The end point of each work route on which the work vehicle <NUM> is caused to autonomously travel corresponds to a position of a start point of a non-work route (turning route) on which the work vehicle <NUM> is caused to manually travel, and a start point of each work route corresponds to a position of an end point of the non-work route (turning route).

As described above, the vehicle control device <NUM> switches the traveling mode in response to an operation by the operator on the operation device <NUM> to cause the work vehicle <NUM> to autonomously travel on the work route (target route R) by autonomous steering and to manually travel on the non-work route (turning route) by manual steering. Although details will be described below, the vehicle control device <NUM> causes the work vehicle <NUM> to execute actions (a sound emission action, a display action, a traveling control action, and the like) according to setting operations of the operator at the end point of each work route.

As illustrated in <FIG>, the operation device <NUM> includes an operation control unit <NUM>, a storage unit <NUM>, and an operation display unit <NUM>. The operation device <NUM> may be a device that is detachably mounted to the work vehicle <NUM>. Moreover, the operation device <NUM> may be a portable terminal (a tablet terminal, a smartphone, or the like) that can be carried by the operator. The operation device <NUM> is communicably connected to the vehicle control device <NUM> by wire or wirelessly.

The operation display unit <NUM> is a user interface including a display unit such as a liquid crystal display or an organic EL display, which displays various types of information, and an operation unit such as operation buttons or a touch panel, which accepts operations. The operation display unit <NUM> displays various setting screens, operation screens, travel screens, and the like in accordance with instructions of the operation control unit <NUM>. Moreover, the operation display unit <NUM> accepts an operation of the operator on each of the screens.

Moreover, the operation unit includes an autonomous traveling button with which the operator issues a traveling start instruction when causing the work vehicle <NUM> to start autonomous traveling, a shift button with which a correction operation (shift operation) for correcting a positional deviation between the work vehicle <NUM> and the target route is performed, and a plurality of selection buttons with which a selection operation is performed on each screen (all are not illustrated). These operation buttons may be physical buttons or electronic image buttons displayed on a touch panel.

For example, as illustrated in <FIG>, the operation device <NUM> is installed near the steering wheel <NUM> in the cabin <NUM>.

The storage unit <NUM> is a non-volatile storage unit such as an HDD or an SSD that stores various types of information. The storage unit <NUM> stores a control program for causing the operation device <NUM> to execute various types of processing. For example, the control program is non-transiently recorded on a computer-readable recording medium such as a CD or a DVD and is read out by a predetermined reading device (not illustrated) to be stored in the storage unit <NUM>. The control program may be downloaded from a server (not illustrated) to the operation device <NUM> via a communication network to be stored in the storage unit <NUM>. Moreover, the control program may be stored in the storage unit <NUM> of the work vehicle <NUM>. Moreover, the storage unit <NUM> may store data of the target route generated in the operation device <NUM>. The control program may include a route generation program for generating a target route.

The operation control unit <NUM> has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for various types of processing executed by the CPU. The operation control unit <NUM> controls the operation device <NUM> by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit <NUM>.

Specifically, as illustrated in <FIG>, the operation control unit <NUM> includes various processing units such as a display processing unit <NUM>, an acceptance processing unit <NUM>, a generation processing unit <NUM>, and a setting processing unit <NUM>. The operation device <NUM> functions as the various processing units by causing the CPU to execute various types of processing in accordance with the control programs. Moreover, some or all of the processing units may be configured by an electronic circuit. The control programs may be programs for causing a plurality of processors to function as the processing units.

The display processing unit <NUM> displays various types of information on the operation display unit <NUM>. For example, the display processing unit <NUM> displays on the operation display unit <NUM> a setting screen for performing various settings (for example, setting screens P1 to P3 in <FIG> and <FIG> to <FIG>), an operation screen when a target route is generated (for example, operation screen D1 in <FIG>), a travel screen that displays traveling information such as traveling conditions and work conditions of the work vehicle <NUM> (for example, travel screen D2 in <FIG>), and the like.

The acceptance processing unit <NUM> accepts various operations by the operator. For example, the acceptance processing unit <NUM> accepts, from the operator, an operation to input setting information for causing the work vehicle <NUM> to autonomously travel on each of the setting screens and accepts, from the operator, an operation to generate the target route, that is, various operations related to route generation work on each of the operation screens.

The generation processing unit <NUM> generates the target route R on which the work vehicle <NUM> is caused to autonomously travel. For example, the generation processing unit <NUM> generates the target route R including a plurality of straight routes (work routes) arranged at predetermined intervals (regular intervals) on the basis of the reference line L1 passing through the point A (first reference point) and the point B (second reference point) in the field F.

Hereinafter, an example of a procedure for generating the target route R will be described. For example, the display processing unit <NUM> displays on the operation display unit <NUM> the operation screen D1 (refer to <FIG>) that accepts, from the operator, a setting operation to set the reference line L1. The operator moves the work vehicle <NUM> to a desired position in the field F and presses a point A registration button Ka. For example, the operator moves the work vehicle <NUM> to an outer peripheral end of the field F and presses the point A registration button Ka. When the operator presses the point A registration button Ka, the generation processing unit <NUM> registers the current position of the work vehicle <NUM> as a first reference point (point A). When the generation processing unit <NUM> registers the point A, the display processing unit <NUM> displays on the operation display unit <NUM> the operation screen D1 (refer to <FIG>) that accepts a registration operation of a second reference point (point B). The operator causes the work vehicle <NUM> to manually travel in a direction (target direction) in which the work vehicle <NUM> is desired to travel and work (refer to <FIG>). Specifically, the operator causes the work vehicle <NUM> to travel straight ahead in a direction parallel to a work direction (for example, tillage direction) when the work vehicle <NUM> works in the work area. At this time, the work vehicle <NUM> may perform predetermined work (for example, tillage work) while manually traveling. Then, the operator presses a point B registration button Kb (refer to <FIG>) at a desired position (for example, the outer peripheral end of the field F). When the operator presses the point B registration button Kb, the generation processing unit <NUM> registers the current position of the work vehicle <NUM> as a second reference point (point B).

When the generation processing unit <NUM> acquires position information of the point A and the point B, a straight line passing through the point A and the point B is set as the reference line L1 (refer to <FIG>). The generation processing unit <NUM> may be capable of adjusting an orientation of the generated reference line L1. For example, the generation processing unit <NUM> displays the generated reference line L1 on the operation screen D1 and sets (registers) the reference line L1 when the registration operation is accepted from the operator. In contrast, when accepting an operation to change the orientation of the reference line L1 (for example, a screen touch operation) from the operator, the generation processing unit <NUM> adjusts the orientation of the reference line L1 in response to the operation. When accepting the operation to register the point B, the generation processing unit <NUM> may display a selection screen for registering or adjusting the reference line L1.

The generation processing unit <NUM> generates a travel route (target route R) including the reference line L1 and a plurality of straight lines parallel to the reference line L1. For example, the generation processing unit <NUM> generates a plurality of parallel straight lines at regular intervals with reference to the reference line L1 on the basis of a work width (a lateral width of the work machine <NUM>) and a lap width (a width that overlaps an adjacent worked area) set in advance (refer to <FIG>). The generation processing unit <NUM> registers the generated target route R in the storage unit <NUM> and displays the generated target route R on the operation display unit <NUM>.

According to the above-described method, the target route R can be generated using the reference line L1 passing through the two points (point A and point B) at both ends of the field F, thereby improving the accuracy of work by the work vehicle <NUM>. The generation processing unit <NUM> may be capable of registering the point B when the work vehicle <NUM> has traveled a predetermined distance (for example, <NUM>) after registering the point A. Accordingly, a more accurate reference line L1 can be set.

The generation method of the target route R is not limited to the above-described method, and may be, for example, a method of generating the target route R on the basis of a reference line generated from the point A and an orientation of the work vehicle ("point A + vehicle azimuth angle") or a method of generating the target route R on the basis of a reference line generated from the point A and a set azimuth angle ("point A + set azimuth angle").

After the target route R is generated, the operator issues an instruction to the work vehicle <NUM> to start autonomous traveling in the field F (traveling start instruction). When the work vehicle <NUM> satisfies the autonomous traveling start condition, thereby being in a state where autonomous traveling is possible, for example, when the work vehicle <NUM> is positioned within a predetermined distance from the target route R and within a predetermined orientation relative to the target route R (refer to <FIG>), the operator can press the autonomous traveling button (not illustrated) of the operation display unit <NUM> to issue the traveling start instruction.

When the operator issues the traveling start instruction, the vehicle control device <NUM> accepts the traveling start instruction and starts autonomous steering of the work vehicle <NUM> such that the work vehicle <NUM> travels along the target route R. As illustrated in <FIG>, the work vehicle <NUM> executes predetermined work while autonomously traveling on a plurality of work routes included in the target route R. At the end point of each work route, the work vehicle <NUM> executes actions (described below) set in advance by the operator and switches to manual traveling to travel while turning on a turning route by manual steering by the operator.

The setting processing unit <NUM> sets the actions of the work vehicle <NUM> at the end point of each work route included in the target route R. Specifically, the acceptance processing unit <NUM> accepts, from the operator, each of a plurality of action items related to actions to be executed by the work vehicle <NUM> when the work vehicle <NUM> reaches a predetermined position corresponding to the end point of each work route. The setting processing unit <NUM> sets each of the plurality of action items on the basis of the operation of the operator. The plurality of action items include, for example, an action to output predetermined sound (buzzer sound or voice) from the work vehicle <NUM> (sound emission action), an action to display predetermined information on the operation device <NUM> (display action), and an action to stop the traveling of the work vehicle <NUM> (traveling control action). In the present invention, the plurality of action items may include at least one of the sound emission action, the display action, and the traveling control action, or may include at least the sound emission action, the display action, and the traveling control action.

For example, as illustrated in <FIG>, the display processing unit <NUM> displays on the operation display unit <NUM> the setting screen P1 including the plurality of action items. The example illustrated in <FIG> includes a selection column K1 for selecting whether to output buzzer sound when the work vehicle <NUM> approaches the end point of the work route, a selection column K2 for selecting whether to display information indicating that the work vehicle <NUM> approaches the end point of the work route when the work vehicle <NUM> approaches the end point, and a selection column K3 for selecting whether to stop the traveling of the work vehicle <NUM> when the work vehicle <NUM> reaches the end point of the work route.

For example, in a case where the operator sets the selection column K1 of the action item "buzzer notification" to "ON" in the setting screen P1, the operation control unit <NUM> causes the operation device <NUM> or a speaker mounted on the work vehicle <NUM> to output buzzer sound when the work vehicle <NUM> approaches the end point of each work route (straight route). Moreover, when accepting a predetermined operation (stop operation) from the operator after the buzzer sound is output, the operation control unit <NUM> stops the output of the buzzer sound. The work vehicle <NUM> outputs the buzzer sound each time the work vehicle <NUM> approaches the end point of each work route.

Moreover, for example, in a case where the operator sets the selection column K2 of the action item "displaying on display" to "ON" in the setting screen P1, the display processing unit <NUM> displays on the operation display unit <NUM> a message indicating that the work vehicle <NUM> approaches the end point of each work route (straight route) when the work vehicle <NUM> approaches the end point. For example, as illustrated in <FIG>, the display processing unit <NUM> displays on the travel screen D2 a message "near end point. " The work vehicle <NUM> displays the message each time the work vehicle <NUM> approaches the end point of each work route.

Moreover, for example, in a case where the operator sets the selection column K3 of the action item "vehicle stop" to "ON" in the setting screen P1, the vehicle control device <NUM> stops the traveling of the work vehicle <NUM> when the work vehicle <NUM> reaches the end point of each work route (straight route). In this case, the work vehicle <NUM> temporarily stops when the work vehicle <NUM> autonomously travels on the work route Ra1 illustrated in <FIG>, for example, and reaches the end point of the work route Ra1, and manually travels on the turning route Rc1 when the operator switches to the manual traveling mode and performs manual steering. The work vehicle <NUM> automatically stops each time the work vehicle <NUM> reaches the end point of each work route.

The operator can set each of the plurality of action items to "ON" or "OFF" in the setting screen P1. Accordingly, the operator can freely set each action item in consideration of the work contents, the work efficiency, the safety of work, and the like, thereby improving the operability. The operator may be capable of setting each of the plurality of action items to "ON" or "OFF" for each work route. Accordingly, for example, only when the work vehicle <NUM> approaches or reaches the end point of a specific work route, the buzzer sound can be output, the message can be displayed, or the work vehicle <NUM> can be stopped.

In the autonomous traveling system according to the present embodiment, when the operator sets the action item of the vehicle stop to "ON," the acceptance processing unit <NUM> may further accept, from the operator, an operation to set the action of the work machine <NUM>. That is, the acceptance processing unit <NUM> may accept a setting operation of action contents to be executed by the work machine <NUM> in association with the traveling stop action of the work vehicle <NUM>. For example, when the acceptance processing unit <NUM> accepts, from the operator, an operation to set the action item "vehicle stop" to "ON" (refer to <FIG>), the display processing unit <NUM> displays the setting screen P2 illustrated in <FIG>. The setting screen P2 includes a selection column K4 for selecting whether to stop the PTO (stop the rotating action of the PTO shaft to block the transmission of the driving force to the work machine <NUM>) and a selection column K5 for selecting whether to lift the work machine <NUM>.

Among work machines <NUM>, there is a work machine <NUM> in which the driving is preferably not automatically stopped or the work height is preferably not changed. Thus, the operator may be capable of performing a setting such that such a work machine <NUM> is mounted on the work vehicle <NUM>. Moreover, the setting processing unit <NUM> may set a preferable state as a default when the work vehicle <NUM> and the work machine <NUM> communicate with each other and the work machine <NUM> as described above is determined to be mounted. Moreover, control may be performed such that the operator cannot perform a setting.

Moreover, when the operator performs a setting to lift the work machine <NUM>, the setting processing unit <NUM> may perform a setting to stop the PTO in conjunction with the setting. Accordingly, since the PTO is automatically stopped and the action of the work machine <NUM> is stopped in accordance with the lifting of the work machine <NUM>, the work machine <NUM> can be prevented from continuing to drive while being lifted. However, the operator may be capable of selecting whether to stop the PTO in conjunction with the lifting of the work machine <NUM>.

For example, in a case where the operator sets the selection column K4 of the action item "PTO stop" to "ON" in the setting screen P2 (refer to <FIG>), the vehicle control device <NUM> stops the traveling of the work vehicle <NUM> and stops the driving of the PTO to stop the action of the work machine <NUM> (for example, tillage work) when the work vehicle <NUM> reaches the end point of each work route. In this case, the work vehicle <NUM> temporarily stops and stops the action of the work machine <NUM> when the work vehicle <NUM> autonomously travels on the work route Ra1 illustrated in <FIG>, for example, and reaches the end point of the work route Ra1, and manually travels on the turning route Rc1 when the operator switches to the manual traveling mode.

Moreover, for example, in a case where the operator sets the selection column K5 of the action item "lifting work machine" to "ON" in the setting screen P2 (refer to <FIG>), the vehicle control device <NUM> stops the traveling of the work vehicle <NUM> and lifts the work machine <NUM> when the work vehicle <NUM> reaches the end point of each work route. Moreover, the vehicle control device <NUM> may stop the driving of the work machine <NUM> (stop the PTO) in conjunction with the lifting of the work machine <NUM>. In this case, the work vehicle <NUM> temporarily stops, lifts the work machine <NUM>, and stops the driving of the work machine <NUM> when the work vehicle <NUM> autonomously travels on the work route Ra1 illustrated in <FIG>, for example, and reaches the end point of the work route Ra1, and manually travels on the turning route Rc1 when the operator switches to the manual traveling mode.

According to the setting operations in the setting screen P2 illustrated in <FIG> and <FIG>, for example, the operator can select whether to stop or continue the work by the work machine <NUM> when the work vehicle <NUM> stops at the end point of the work route. In a case where the operator performs a setting to stop the traveling of the work vehicle <NUM> and a setting to stop the work by the work machine <NUM>, when the work vehicle <NUM> autonomously travels on the work route and reaches the end point, the vehicle control device <NUM> stops the work vehicle <NUM> and stops the work by the work machine <NUM>. Moreover, in a case where the operator performs a setting to stop the traveling of the work vehicle <NUM> and a setting to stop the transmission of the driving force to the work machine <NUM> or a setting to lift the work machine <NUM>, when the work vehicle <NUM> autonomously travels on the work route and reaches the end point, the vehicle control device <NUM> stops the work vehicle <NUM> and stops the transmission of the driving force to the work machine <NUM> or lifts the work machine <NUM> and stops the driving of the work machine <NUM>.

Accordingly, a state where the work machine <NUM> continues to be driven even though the work vehicle <NUM> has stopped the traveling at the end point of the work route can be avoided. The operator can freely set the action items related to "PTO stop" and "lifting work machine" according to the work contents, the type of the work machine <NUM>, and the like.

Moreover, in the autonomous traveling system according to the present embodiment, when the operator sets the action item "vehicle stop" to "ON," the acceptance processing unit <NUM> may further accept, from the operator, a condition for switching the work vehicle <NUM> from the manual traveling mode to the autonomous traveling mode, that is, a condition for restarting the autonomous traveling at the start point of the work route after the manual traveling on the non-work route. The condition for restarting the autonomous traveling of the work vehicle <NUM> includes at least one of the following: the operation position of the PTO switch <NUM> for switching ON/OFF of the transmission of the driving force to the work machine <NUM> is the "OFF" position; the position of the lifting-lowering lever <NUM> for switching the lifting-lowering position of the work machine <NUM> is the "lifting" position; the position of the main speed change lever <NUM> for changing the speed of the work vehicle <NUM> is the "minimum speed" position (foremost position); and the position of the reverser lever for switching between forward movement and backward movement of the work vehicle <NUM> is the "neutral" position.

For example, on the setting screen P2 (refer to <FIG> and <FIG>), the display processing unit <NUM> displays a selection column K40 for selecting whether to set the autonomous traveling restart condition in association with the selection column K4 of the action item "PTO stop" and displays a selection column K50 for selecting whether to set the autonomous traveling restart condition in association with the selection column K5 of the action item "lifting work machine. " The display processing unit <NUM> may display the selection column K40 in a selectable manner when the action item "PTO stop" is set to "ON" and may display the selection column K50 in a selectable manner when the action item "lifting work machine" is set to "ON. " The display processing unit <NUM> may display the selection column K40 in a non-selectable manner (for example, gray-out display) when the action item "PTO stop" is set to "OFF" and may display the selection column K50 in a non-selectable manner (for example, gray-out display) when the action item "lifting work machine" is set to "OFF.

The autonomous traveling restart condition corresponding to the action item "PTO stop" is "the operation position of the PTO switch <NUM> (refer to <FIG>) is the "OFF" position. " When the operator checks the selection column K40 (refer to <FIG>), the setting processing unit <NUM> sets the autonomous traveling restart condition. In this case, when the work vehicle <NUM> is positioned at the start point of the work route and the PTO switch <NUM> is operated to the "OFF" position by the operator, the vehicle control device <NUM> determines that the autonomous traveling restart condition is satisfied and restarts the autonomous traveling on the work route. Moreover, when the PTO switch <NUM> is changed from the "OFF" position to the "ON" position by the operator, the vehicle control device <NUM> restarts the driving of the PTO to restart the work by the work machine <NUM>.

In a case where a setting is performed such that the work vehicle <NUM> stops at the end point of the work route and the driving of the PTO is stopped, when the work vehicle <NUM> stops at the end point of the work route, the PTO switch <NUM> is maintained at the "ON" position although the driving of the PTO is stopped. Thus, for example, in a case where the operator unchecks the selection column K40 and does not set the autonomous traveling restart condition corresponding to the action item "PTO stop," when the work vehicle <NUM> is positioned at the start point of the work route, the vehicle control device <NUM> restarts the autonomous traveling on the work route and also automatically restarts the driving of the PTO (the work by the work machine <NUM>).

Moreover, the autonomous traveling restart condition corresponding to the action item "lifting work machine" is "the operation position of the lifting-lowering lever <NUM> (refer to <FIG>) is the "lifting" position. " When the operator checks the selection column K50 (refer to <FIG>), the setting processing unit <NUM> sets the autonomous traveling restart condition. In this case, when the work vehicle <NUM> is positioned at the start point of the work route and the lifting-lowering lever <NUM> is operated to the "lifting" position by the operator, the vehicle control device <NUM> determines that the autonomous traveling restart condition is satisfied and restarts the autonomous traveling on the work route. Moreover, when the lifting-lowering lever <NUM> is changed from the "lifting" position to the "lowering" position by the operator, the vehicle control device <NUM> restarts the work by the work machine <NUM>.

In a case where a setting is performed such that the work vehicle <NUM> stops at the end point of the work route and the work machine <NUM> is lifted, when the work vehicle <NUM> stops at the end point of the work route, the lifting-lowering lever <NUM> is maintained at the "lowering" position although the work machine <NUM> is lifted. Thus, for example, in a case where the operator unchecks the selection column K50 and does not set the autonomous traveling restart condition corresponding to the action item "lifting work machine," when the work vehicle <NUM> is positioned at the start point of the work route, the vehicle control device <NUM> restarts the autonomous traveling on the work route and also automatically restarts the work by the work machine <NUM>.

As described above, the operator sets the autonomous traveling restart condition when the operator wants to ensure the safety by preventing the work from being automatically restarted when the traveling is switched from the manual traveling to the autonomous traveling. In this case, when the work vehicle <NUM> reaches the start point of the work route and satisfies the autonomous traveling restart condition, the work vehicle <NUM> restarts the autonomous traveling.

In contrast, the operator does not set the autonomous traveling restart condition when the operator wants to improve the work efficiency by automatically restarting the work when the traveling is switched from the manual traveling to the autonomous traveling. In this case, when the work vehicle <NUM> reaches the start point of the work route, the work vehicle <NUM> restarts the autonomous traveling. The operator can select whether to set the autonomous traveling restart condition in consideration of the safety and the work efficiency.

As another embodiment, the display processing unit <NUM> may display the setting screen P3 (refer to <FIG>) of the autonomous traveling restart condition. For example, when the operator sets the action item of the vehicle stop to "ON" (refer to <FIG>), the display processing unit <NUM> displays the setting screen P3, and the acceptance processing unit <NUM> may accept, from the operator, a setting operation of the autonomous traveling restart condition. The setting screen P3 includes a selection column K61 in which "the operation position of the PTO switch <NUM> is the "OFF" position" is the autonomous traveling restart condition, a selection column K62 in which "the operation position of the work machine lever (lifting-lowering lever <NUM>) is the "lifting" position" is the autonomous traveling restart condition, a selection column K63 in which "the operation position of the main speed change lever <NUM> is the "minimum" position" is the autonomous traveling restart condition, and a selection column K64 in which "the operation position of the reverser lever is the "neutral" position" is the autonomous traveling restart condition.

For example, in a case where the operator sets the selection column K61 to "ON," when the work vehicle <NUM> reaches the start point of the work route and the PTO switch <NUM> is operated to the "OFF" position by the operator, the vehicle control device <NUM> determines that the autonomous traveling restart condition is satisfied and restarts the autonomous traveling. In a case where the operator sets the selection column K61 to "OFF," when the work vehicle <NUM> reaches the start point of the work route, the vehicle control device <NUM> restarts the autonomous traveling and restarts the work by the work machine <NUM>.

Moreover, for example, in a case where the operator sets the selection column K62 to "ON," when the work vehicle <NUM> reaches the start point of the work route and the lifting-lowering lever <NUM> is operated to the "lifting" position by the operator, the vehicle control device <NUM> determines that the autonomous traveling restart condition is satisfied and restarts the autonomous traveling. In a case where the operator sets the selection column K62 to "OFF," when the work vehicle <NUM> reaches the start point of the work route, the vehicle control device <NUM> restarts the autonomous traveling and restarts the work by the work machine <NUM>.

Moreover, for example, in a case where the operator sets the selection column K63 to "ON," when the work vehicle <NUM> reaches the start point of the work route and the main speed change lever <NUM> is operated to the "minimum" position by the operator, the vehicle control device <NUM> determines that the autonomous traveling restart condition is satisfied and restarts the autonomous traveling at the minimum speed. In a case where the operator sets the selection column K63 to "OFF," when the work vehicle <NUM> reaches the start point of the work route, the vehicle control device <NUM> restarts the autonomous traveling at a speed corresponding to the current operation position of the main speed change lever <NUM>.

Moreover, for example, in a case where the operator sets the selection column K64 to "ON," when the work vehicle <NUM> reaches the start point of the work route and the reverser lever is operated to the "neutral" position by the operator, the vehicle control device <NUM> determines that the autonomous traveling restart condition is satisfied and restarts the autonomous traveling. In this case, when the reverser lever is operated to the "forward movement" position by the operator, the vehicle control device <NUM> starts the autonomous traveling by the forward movement. In a case where the operator sets the selection column K64 to "OFF," when the work vehicle <NUM> reaches the start point of the work route, the vehicle control device <NUM> starts the autonomous traveling in a direction corresponding to the current operation position of the reverser lever (for example, "forward movement" direction).

The operator may set any one of the autonomous traveling restart conditions to "ON" or may set a plurality of the autonomous traveling restart conditions to "ON" in the setting screen P3 illustrated in <FIG>.

In a case where the operator sets a plurality of the autonomous traveling restart conditions to "ON," when all of the plurality of the autonomous traveling restart conditions are satisfied, the vehicle control device <NUM> restarts the autonomous traveling.

Hereinafter, with reference to <FIG>, an example of the autonomous traveling processing executed by the vehicle control device <NUM> will be described. The present invention may be understood as an invention of an autonomous traveling method in which the vehicle control device <NUM> executes a part or all of the autonomous traveling processing or an invention of an autonomous traveling program for causing the vehicle control device <NUM> to execute a part or all of the autonomous traveling method. The autonomous traveling method is an example of the traveling control method of the present invention, and the autonomous traveling program is an example of the traveling control program of the present invention.

In step S1, the vehicle control device <NUM> determines whether the work vehicle <NUM> is in a state where autonomous traveling is possible. When the vehicle control device <NUM> determines that the work vehicle <NUM> is in a state where autonomous traveling is possible (S1: Yes), the processing proceeds to step S2. The vehicle control device <NUM> waits until the work vehicle <NUM> is in a state where autonomous traveling is possible (S1: No). Specifically, when the work vehicle <NUM> satisfies the autonomous traveling start condition, the vehicle control device <NUM> determines that the work vehicle <NUM> is in a state where autonomous traveling is possible.

In step S2, the vehicle control device <NUM> causes the work vehicle <NUM> to start autonomous traveling in accordance with the target route R. Specifically, when the work vehicle <NUM> satisfies the autonomous traveling start condition and the operator issues the traveling start instruction, the vehicle control device <NUM> starts the autonomous traveling processing corresponding to the target route R (refer to <FIG>) set in advance. For example, the vehicle control device <NUM> causes the work vehicle <NUM> to autonomously travel in accordance with the work route (straight route) by autonomous steering. Moreover, the vehicle control device <NUM> drives the work machine <NUM> to execute predetermined work (for example, tillage work) when the work vehicle <NUM> autonomously travels on the work route.

Next, in step S3, the vehicle control device <NUM> determines whether the work vehicle <NUM> approaches the end point of the work route. Specifically, the vehicle control device <NUM> determines whether a distance from the current position of the work vehicle <NUM> that autonomously travels on the work route to the end point of the work route is less than a predetermined distance. When the vehicle control device <NUM> determines that the work vehicle <NUM> approaches the end point of the work route (S3: Yes), the processing proceeds to step S4. In contrast, the vehicle control device <NUM> continues the autonomous traveling until the work vehicle <NUM> approaches the end point of the work route (S3:No).

In step S4, the vehicle control device <NUM> notifies the outside of information indicating that the work vehicle <NUM> approaches the end point of the work route. For example, in a case where the operator sets the selection column K1 of the action item "buzzer notification" to "ON" in the setting screen P1 (refer to <FIG>), the vehicle control device <NUM> gives notification to the operation control unit <NUM> when the work vehicle <NUM> approaches the end point of the work route. When acquiring the notification, the operation control unit <NUM> causes the operation device <NUM> or the speaker mounted on the work vehicle <NUM> to output buzzer sound.

Moreover, for example, in a case where the operator sets the selection column K2 of the action item "displaying on display" to "ON" in the setting screen P1 (refer to <FIG>), the vehicle control device <NUM> gives notification to the operation control unit <NUM> when the work vehicle <NUM> approaches the end point of the work route. When acquiring the notification, the operation control unit <NUM> displays on the operation display unit <NUM> a message indicating that the work vehicle <NUM> approaches the end point (refer to <FIG>).

As described above, when the work vehicle <NUM> approaches the end point of the work route, the vehicle control device <NUM> executes notification actions to notify the outside of predetermined information, such as an output action of buzzer sound and a display action of a message.

Next, in step S5, the vehicle control device <NUM> determines whether the work vehicle <NUM> reaches the end point of the work route. When the vehicle control device <NUM> determines that the work vehicle <NUM> reaches the end point of the work route (S5: Yes), the processing proceeds to step S6. In contrast, the vehicle control device <NUM> continues the notification processing until the work vehicle <NUM> reaches the end point of the work route (S5:No).

In step S6, the vehicle control device <NUM> stops the traveling of the work vehicle <NUM>. Here, a case where the operator sets the selection column K3 of the action item "vehicle stop" to "ON" in the setting screen P1 (refer to <FIG>) is illustrated. In this case, the vehicle control device <NUM> stops the traveling when the work vehicle <NUM> reaches the end point of the work route. Moreover, in a case where the operator sets the selection column K4 of the action item "PTO stop" to "ON" in the setting screen P2 (refer to <FIG>), the vehicle control device <NUM> stops the PTO to stop the action of the work machine <NUM> when the work vehicle <NUM> reaches the end point of the work route. Moreover, in a case where the operator sets the selection column K5 of the action item "lifting work machine" to "ON" in the setting screen P2 (refer to <FIG>), the vehicle control device <NUM> lifts the work machine <NUM> when the work vehicle <NUM> reaches the end point of the work route. Moreover, the vehicle control device <NUM> may stop the driving of the work machine <NUM> (stop the PTO) in conjunction with the lifting of the work machine <NUM>.

Next, in step S7, the vehicle control device <NUM> switches the work vehicle <NUM> from the autonomous traveling mode to the manual traveling mode and causes the work vehicle <NUM> to manually travel by manual steering by the operator. For example, the vehicle control device <NUM> causes the work vehicle <NUM> to manually travel on the turning route from the end point of the work route toward the start point of the next work route in response to manual steering by the operator.

Next, in step S8, the vehicle control device <NUM> determines whether the work vehicle <NUM> satisfies the autonomous traveling restart condition. Here, a case where the operator sets the action item "PTO stop" to "ON" and sets the autonomous traveling restart condition by checking the selection column K40 in the setting screen P2 (refer to <FIG>) is illustrated. In this case, when the work vehicle <NUM> reaches the start point of the work route and the PTO switch <NUM> is operated to the "OFF" position by the operator, the vehicle control device <NUM> determines that the autonomous traveling restart condition is satisfied (S8: Yes). When the work vehicle <NUM> does not reach the start point of the work route or when the PTO switch <NUM> is not operated to the "OFF" position by the operator, the vehicle control device <NUM> determines that the autonomous traveling restart condition is not satisfied (S8: No).

When the vehicle control device <NUM> determines that the work vehicle <NUM> satisfies the autonomous traveling restart condition (S8: Yes), the processing proceeds to step S9. The vehicle control device <NUM> continues the manual traveling processing until the vehicle control device <NUM> determines that the work vehicle <NUM> satisfies the autonomous traveling restart condition (S8: No).

In step S9, the vehicle control device <NUM> restarts the autonomous traveling of the work vehicle <NUM>.

Here, when the operator adjusts the position of the work vehicle <NUM> to the start point of the work route by manual steering, operates the PTO switch <NUM> to the "OFF" position once, and then operates the PTO switch <NUM> to the "ON" position, at the start point of the work route, the vehicle control device <NUM> restarts the autonomous traveling and restarts the work by the work machine <NUM> by driving the PTO. Accordingly, the work vehicle <NUM> performs the work while autonomously traveling in accordance with the work route.

Next, in step S10, the vehicle control device <NUM> determines whether the work vehicle <NUM> finishes the work. When the vehicle control device <NUM> determines that the work vehicle <NUM> finishes the work (S10: Yes), the vehicle control device <NUM> finishes the autonomous traveling processing. When the vehicle control device <NUM> determines that the work vehicle <NUM> does not finish the work (S10: No), the vehicle control device <NUM> causes the work vehicle <NUM> to continue the autonomous traveling in accordance with the target route R, and the processing proceeds to step S3.

The vehicle control device <NUM> repeatedly executes the processing of steps S3 to S9 described above until the work vehicle <NUM> finishes the work. As described above, the vehicle control device <NUM> executes the autonomous traveling processing.

As described above, the autonomous traveling system according to the present embodiment accepts, from the operator, an operation to set each of a plurality of action items related to actions to be executed by the work vehicle <NUM> when the work vehicle <NUM> reaches a predetermined position corresponding to an end point of a work route on which the work vehicle <NUM> is caused to autonomously travel and sets each of the plurality of action items on the basis of the operation of the operator. For example, the autonomous traveling system accepts, from the operator, an operation to set each of a plurality of action items including at least one of an action to output predetermined sound from the work vehicle <NUM> when the work vehicle <NUM> approaches the end point of the work route, an action to display predetermined information (for example, a message "near end point") on the operation device <NUM> when the work vehicle <NUM> approaches the end point of the work route, and an action to stop traveling of the work vehicle <NUM> when the work vehicle <NUM> reaches the end point of the work route and sets each of the plurality of action items on the basis of the operation of the operator.

According to the above-described configuration, the operator can set whether to notify the outside of predetermined information when the work vehicle <NUM> approaches the end point of the work route and can set whether to stop the traveling of the work vehicle <NUM> when the work vehicle <NUM> reaches the end point of the work route. As described above, the operator can freely set the action (behavior) of the work vehicle <NUM> when switching from the autonomous traveling to the manual traveling. Thus, the operability of the work vehicle <NUM> can be improved.

The present invention is not limited to the above-described embodiment. Hereinafter, other embodiments of the present invention will be described.

As another embodiment of the present invention, the autonomous traveling restart condition may be a condition related to the notification processing. For example, the display processing unit <NUM> may display a setting screen P4 illustrated in <FIG>, and the acceptance processing unit <NUM> may accept, from the operator, a setting operation of the autonomous traveling restart condition. The setting screen P4 illustrated in <FIG> includes conditions (autonomous traveling restart conditions) of "outputting voice guidance," "outputting buzzer sound," and "displaying on display. " In a case where at least one of the conditions is set by the operator in the setting screen P4 and processing (notification processing) that satisfies the condition is executed at the start point of the work route, the vehicle control device <NUM> restarts the autonomous traveling of the work vehicle <NUM>. For example, in a case where the operator checks "voice guidance" and "displaying on display" to set the autonomous traveling restart condition, the vehicle control device <NUM> restarts the autonomous traveling of the work vehicle <NUM> when the work vehicle <NUM> reaches the start point of the work route and the operation control unit <NUM> performs voice guidance of a message indicating the restart of the autonomous traveling and displays the message on the operation display unit <NUM>. As described above, the autonomous traveling system may be configured to permit the restart of the autonomous traveling on condition that the notification action to the operator is performed at the start point of the work route.

Moreover, as another embodiment of the present invention, when the operator sets the selection column K3 of the action item "vehicle stop" to "OFF" in the setting screen P1 (refer to <FIG>), the display processing unit <NUM> may display a setting screen P5 (refer to <FIG>) for setting a turning method of the work vehicle <NUM> at the end point of the work route. The setting screen P5 includes a selection column K71 for causing the work vehicle <NUM> to autonomously turn without traveling backward, a selection column K72 for causing the work vehicle <NUM> to autonomously turn while traveling backward, and a selection column K73 for causing the work vehicle <NUM> to manually turn. The operator can select a method of a turning action when the work vehicle <NUM> reaches the end point of the work route. The work vehicle <NUM> executes the turning action by the turning method selected by the operator in the setting screen P5 each time the work vehicle <NUM> reaches the end point of each work route.

The traveling control system of the present invention may be configured by the vehicle control device <NUM> and the operation device <NUM> or may be configured by only the vehicle control device <NUM> or only the operation device <NUM>. Moreover, the traveling control system may be configured by a server including the respective processing units included in the vehicle control device <NUM> and the operation device <NUM>.

Hereinafter, a summary of the invention extracted from the embodiment will be described as supplementary notes. The configurations and processing functions described in the following supplementary notes can be selected, omitted, and combined as appropriate.

The traveling control method according to supplementary note <NUM>, in which.

The traveling control method according to supplementary note <NUM> or <NUM>, in which
the plurality of action items include at least one of an action to output predetermined sound from the work vehicle, an action to display predetermined information on an operation terminal, and an action to stop traveling of the work vehicle.

The traveling control method according to supplementary note <NUM>, in which,
in a case where the user performs a setting to output the predetermined sound from the work vehicle, the predetermined sound is output from the work vehicle when the work vehicle autonomously travels on the work route and reaches the predetermined position.

The traveling control method according to supplementary note <NUM> or <NUM>, in which,
in a case where the user performs a setting to display the predetermined information on the operation terminal, the predetermined information is displayed on the operation terminal when the work vehicle autonomously travels on the work route and reaches the predetermined position.

The traveling control method according to any one of supplementary notes <NUM> to <NUM>, in which,
in a case where the user performs a setting to stop the traveling of the work vehicle, the traveling of the work vehicle is stopped when the work vehicle autonomously travels on the work route and reaches the predetermined position.

The traveling control method according to any one of supplementary notes <NUM> to <NUM>, in which,
in a case where the user performs a setting to stop the traveling of the work vehicle, an operation to set an action of a work machine is further accepted from the user.

The traveling control method according to supplementary note <NUM>, in which,
in a case where the user performs the setting to stop the traveling of the work vehicle and a setting to stop work by the work machine, the work vehicle is stopped and the work by the work machine is stopped when the work vehicle autonomously travels on the work route and reaches the predetermined position.

The traveling control method according to supplementary note <NUM>, in which,
in a case where the user performs the setting to stop the traveling of the work vehicle and a setting to stop transmission of driving force to the work machine or a setting to lift the work machine, the work vehicle is stopped and the transmission of the driving force to the work machine is stopped or the work machine is lifted when the work vehicle autonomously travels on the work route and reaches the predetermined position.

The traveling control method according to any one of supplementary notes <NUM> to <NUM>, in which,
in a case where the user performs the setting to stop the traveling of the work vehicle, an operation to set a condition for restarting the autonomous traveling of the work vehicle is further accepted from the user.

Claim 1:
A traveling control method executing:
accepting, from a user, an operation to set each of a plurality of action items related to actions to be executed by a work vehicle when the work vehicle reaches a predetermined position corresponding to an end point of a work route on which the work vehicle is caused to autonomously travel; and
setting each of the plurality of action items on the basis of the operation of the user.