JP7100539B2 - Autonomous driving system - Google Patents

Description

The present invention relates to an automatic traveling system for automatically traveling a work vehicle along a target traveling route.

The above-mentioned automatic traveling system automatically drives the working vehicle along a target traveling route generated in advance based on the positioning information of the working vehicle acquired by using a satellite positioning system or the like (for example, Patent Document). See 1.).

In the system described in Patent Document 1, not only the target travel path but also the vicinity of the entrance / exit of the work area is set as a designated position with respect to the work area such as a field, and the designated position is connected to the start position of the target travel path. A guide route is generated. As a result, by driving the work vehicle along the guide route, the work vehicle can be guided from the designated position to the start position of the target travel route.

Japanese Unexamined Patent Publication No. 2018-73050

In the system described in Patent Document 1, a guide route connecting an arbitrarily set designated position and a start position of a target travel route is generated. However, depending on the positional relationship between the designated position and the start position of the target travel route, an unintended guide route may be generated, or the automatic traveling of the work vehicle along the target travel route may not be smoothly started.

If the orientation of the work vehicle at the designated position and the orientation of the work vehicle at the start position of the target travel path are different, the work vehicle is turned to match the orientation. At this time, if the distance between the designated position and the start position is short, a sufficient turning radius cannot be obtained. Therefore, for example, an unintended guide path that moves away from the start position and then approaches is generated. In addition, if the distance between the designated position and the start position is short, the mileage on the guide route will be short, so it will not be possible to secure a mileage sufficient to align the work vehicle with respect to the start position, and the start will start. The work vehicle is displaced with respect to the position, and the automatic running of the work vehicle along the target travel route cannot be started smoothly.

In view of this situation, the main problem of the present invention is automatic traveling that can smoothly start the automatic traveling of the working vehicle along the target traveling route while guiding the working vehicle to the start position of the target traveling route. The point is to provide the system.

The first feature configuration of the present invention includes a travel route storage unit that stores a target travel route in which a start position and an end position are designated for a work area.
Based on the positioning information of the work vehicle acquired by the satellite positioning system, the automatic driving control unit that performs automatic driving control to automatically drive the work vehicle along the target driving route, and
A guide route generator that generates a guide route that connects a designated position arbitrarily set in the work area to the start position of the target travel route, and a guide route generator.
A guidance control unit that automatically travels and guides the work vehicle along the guidance route based on the positioning information of the work vehicle acquired by the satellite positioning system.
When the guide route non-generation condition that the desired guide route cannot be generated is satisfied, the guide route generation unit is provided with a designated position change setting unit that changes and sets the designated position to a preset specific position. It is in the point that it is.

According to this configuration, if the guide route non-generation condition in which the desired guide route cannot be generated by the guide route generation unit is not satisfied, the guide route generation unit starts the target travel route from a designated position arbitrarily set. A guide route connecting to the position is generated. On the other hand, when the guide route non-generation condition that the desired guide route cannot be generated is satisfied in the guide route generation unit, the designated position change setting unit changes the designated position to a preset specific position. is doing. The guide route generation unit generates a guide route that connects the designated position changed to a specific position to the start position of the target travel route, instead of the designated position that is arbitrarily set. As a result, an unintended guidance route is not generated, and the guidance control unit automatically travels the work vehicle along the guidance route to guide the work vehicle appropriately to the start position of the target travel route. I can guide you.

From the above, since the work vehicle can be appropriately guided to the start position of the target travel route, it is possible to suppress inconveniences such as the position shift of the work vehicle with respect to the start position of the target travel route. It is possible to smoothly start the automatic running of the work vehicle along the target running route.

The second characteristic configuration of the present invention is that the guide path non-establishment condition is set so that the distance between the designated position and the start position of the target travel path is set to be equal to or less than a predetermined distance.

If the orientation of the work vehicle at the arbitrarily set designated position and the orientation of the work vehicle at the start position of the target travel path are different, the work vehicle is turned to match the orientation. At this time, if the distance between the designated position and the start position of the target travel path is not more than a predetermined distance, a sufficient turning radius cannot be obtained. Therefore, assuming that a guide path is generated, an unintended guide path that moves away from the start position and then approaches is generated. Further, when the distance between the designated position and the start position of the target travel route is not more than a predetermined distance, the distance between the designated position and the start position is short, so that the travel distance on the guide route is short. Therefore, it is not possible to secure a mileage sufficient to align the work vehicle with respect to the start position, the work vehicle is displaced with respect to the start position, and the work vehicle automatically runs along the target travel route. You will not be able to start smoothly.

Therefore, according to this configuration, the guide route non-generation condition is set so that the distance between the designated position and the start position of the target travel route is a predetermined distance or less. In this way, since an appropriate condition can be set as a guide route non-generation condition, it is possible to appropriately prevent the generation of an unintended guide route.

The third characteristic configuration of the present invention is that the target travel path has a linear linear travel path starting from the start position, and the specific position is set on an extension of the linear travel path.

According to this configuration, since the specific position is set on the extension line of the straight line travel path, when the guide path connecting from the designated position changed to the specific position to the start position of the target travel path is generated, it is linear. Guidance route can be generated. As a result, the work vehicle can be easily and appropriately guided to the start position of the target travel route, and the automatic travel of the work vehicle along the target travel route can be started more smoothly.

The figure which shows the schematic structure of the automatic driving system Block diagram showing the schematic configuration of an automated driving system A diagram showing a work area in a state where a target travel route is set. Diagram for explaining the generation of the guide route A flowchart showing the operation when generating a guide route A flowchart showing the operation when the automatic running of the tractor is started using the guide route.

An embodiment of the automatic traveling system according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, this automatic traveling system applies the tractor 1 as a work vehicle, but other than the tractor, a passenger work vehicle such as a passenger rice transplanter, a combine, a passenger mower, a wheel loader, and a snowplow, Further, an unmanned work vehicle such as an unmanned mower can be applied.

As shown in FIGS. 1 and 2, this automatic traveling system includes an automatic traveling unit 2 mounted on the tractor 1 and a mobile communication terminal 3 set to communicate with the automatic traveling unit 2. As the mobile communication terminal 3, a tablet-type personal computer, a smartphone, or the like having a touch-operable display unit 51 (for example, a liquid crystal panel) can be adopted.

The tractor 1 includes left and right front wheels 5 that function as driveable steering wheels, and a traveling machine body 7 that has left and right rear wheels that can be driven. A bonnet 8 is arranged on the front side of the traveling machine body 7, and an electronically controlled diesel engine (hereinafter referred to as an engine) 9 equipped with a common rail system is provided in the bonnet 8. A cabin 10 forming a boarding-type driving unit is provided on the rear side of the bonnet 8 of the traveling machine body 7.

The tractor 1 can be configured to the rotary tillage specification by connecting the rotary tillage device, which is an example of the work device 12, to the rear part of the traveling machine body 7 via a three-point link mechanism 11 so as to be able to move up and down and roll. can. Instead of the rotary tilling device, a working device 12 such as a plow, a sowing device, and a spraying device can be connected to the rear part of the tractor 1.

As shown in FIG. 2, the tractor 1 includes an electronically controlled transmission 13 that shifts the power from the engine 9, a fully hydraulic power steering mechanism 14 that steers the left and right front wheels 5, and left and right rear wheels 6. Left and right side brakes for braking (not shown), electronically controlled brake operation mechanism 15 that enables hydraulic operation of left and right side brakes, work clutch that interrupts transmission to work devices 12 such as rotary tillers (Fig.) (Not shown), an electronically controlled clutch operating mechanism 16 that enables hydraulic operation of the work clutch, an electrohydraulic control type elevating drive mechanism 17 that elevates and drives the work device 12 such as a rotary tiller, automatic running of the tractor 1, etc. The vehicle-mounted electronic control unit 18 having various control programs related to the above, the vehicle speed sensor 19 for detecting the vehicle speed of the tractor 1, the steering angle sensor 20 for detecting the steering angle of the front wheels 5, and the current position and the current orientation of the tractor 1 are measured. The positioning unit 21 and the like are provided.

An electronically controlled gasoline engine equipped with an electronic governor may be adopted as the engine 9. As the transmission 13, a hydraulic mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), a belt type continuously variable transmission, or the like can be adopted. As the power steering mechanism 14, an electric power steering mechanism 14 or the like provided with an electric motor may be adopted.

Inside the cabin 10, as shown in FIG. 1, a steering wheel 38 that enables manual steering of the left and right front wheels 5 via a power steering mechanism 14 (see FIG. 2), a driver's seat 39 for passengers, and a touch panel It is equipped with an expression display unit and various operating tools.

As shown in FIG. 2, the in-vehicle electronic control unit 18 is a work device 12 such as a shift control unit 181 that controls the operation of the transmission device 13, a braking control unit 182 that controls the operation of the left and right side brakes, and a rotary tiller. The work device control unit 183 that controls the operation, the steering angle setting unit 184 that sets the target steering angles of the left and right front wheels 5 during automatic driving and outputs them to the power steering mechanism 14, and the target driving for automatic driving generated in advance. It has a non-volatile vehicle-mounted storage unit 185 and the like for storing the path P (see, for example, FIG. 3) and the like.

As shown in FIG. 2, the positioning unit 21 is a satellite that measures the current position and current orientation of the tractor 1 by using GPS (Global Positioning System), which is an example of a satellite positioning system (NSS: Navigation Satellite System). It is equipped with a navigation device 22, an inertial measurement unit (IMU) 23 and the like having a three-axis gyroscope, a three-way acceleration sensor, and the like to measure the posture and orientation of the tractor 1. Positioning methods using GPS include DGPS (Differential GPS: relative positioning method) and RTK-GPS (Real Time Kinematic GPS: interference positioning method). In this embodiment, RTK-GPS suitable for positioning of a moving body is adopted. Therefore, as shown in FIGS. 1 and 2, a reference station 4 that enables positioning by RTK-GPS is installed at a known position around the field.

As shown in FIG. 2, the tractor 1 and the reference station 4 are connected to the positioning antennas 24 and 61 that receive the radio waves transmitted from the positioning satellite 71 (see FIG. 1), and between the tractor 1 and the reference station 4. The communication modules 25, 62 and the like that enable wireless communication of various information including the positioning information in the above are provided. As a result, in the satellite navigation device 22, the positioning antenna 24 on the tractor side receives the radio waves from the positioning satellite 71 and the positioning information is obtained, and the positioning antenna 61 on the base station side receives the radio waves from the positioning satellite 71. Based on the obtained positioning information, the current position and current orientation of the tractor 1 can be measured with high accuracy. Further, the positioning unit 21 is provided with the satellite navigation device 22 and the inertial measurement unit 23 to measure the current position, the current direction, and the attitude angle (yaw angle, roll angle, pitch angle) of the tractor 1 with high accuracy. Can be done.

As shown in FIG. 1, the positioning antenna 24, the communication module 25, and the inertial measurement unit 23 provided in the tractor 1 are housed in the antenna unit 80. The antenna unit 80 is arranged at an upper position on the front side of the cabin 10.

As shown in FIG. 2, the mobile communication terminal 3 has positioning information between the terminal electronic control unit 52 having various control programs for controlling the operation of the display unit 51 and the like, and the communication module 25 on the tractor side. A communication module 55 or the like that enables wireless communication of various information including the above is provided. The terminal electronic control unit 52 includes a travel route generation unit 53 that generates a target travel route P (for example, see FIG. 3) for automatically traveling the tractor 1, and various input information and travel route generation units input by the user. It has a non-volatile terminal storage unit 54 and the like that stores the target travel path P and the like generated by the 53.

The travel route generation unit 53 generates a target travel route P (for example, see FIG. 3) in the work area Q, and a method of generating the target travel route P will be described later.

The target travel route P generated by the travel route generation unit 53 can be displayed on the display unit 51, and travel route information regarding the target travel route P is stored in the terminal storage unit 54. The travel route information includes the azimuth angle of the target travel route P, the set engine rotation speed set according to the travel mode of the tractor 1 on the target travel route P, the target travel speed, and the like.

In this way, when the travel route generation unit 53 generates the target travel route P, the terminal electronic control unit 52 uses the communication module 55 to transmit travel route information from the mobile communication terminal 3 to the tractor 1. The vehicle-mounted electronic control unit 18 of the tractor 1 can acquire travel route information by using the communication module 25. The in-vehicle electronic control unit 18 automatically travels the tractor 1 along the target travel route P while acquiring its own current position (current position of the tractor 1) by the positioning unit 21 based on the acquired travel route information. be able to. The current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (for example, in a cycle of several milliseconds), and the current position of the tractor 1 is transmitted by the mobile communication terminal 3. I know.

In the tractor 1, the in-vehicle electronic control unit 18 receives an instruction to start automatic driving, and the positioning unit 21 acquires its own current position (current position of the tractor 1) while tracting the tractor along the target traveling path P. The automatic running control for automatically running 1 is started. The in-vehicle electronic control unit 18 is based on the positioning information of the tractor 1 acquired by the positioning unit 21 (corresponding to the satellite positioning system), and the tractor 1 is along the target travel path P (see FIG. 3) in the work area Q. It is configured as an automatic driving control unit that performs automatic driving control to automatically drive the vehicle.

The automatic running control includes automatic shift control that automatically controls the operation of the transmission, automatic braking control that automatically controls the operation of the brake operation mechanism 15, automatic steering control that automatically steers the left and right front wheels 5, and a rotary tillage device. It includes automatic control for work that automatically controls the operation of the work device 12 and the like.

In the automatic shift control, the shift control unit 181 determines the tractor 1 on the target travel path P based on the route information of the target travel path P including the target travel speed, the output of the positioning unit 21, and the output of the vehicle speed sensor 19. The operation of the transmission 13 is automatically controlled so that the target traveling speed set according to the traveling mode or the like can be obtained as the vehicle speed of the tractor 1.

In the automatic braking control, the braking control unit 182 places the left and right side brakes on the left and right rear in the braking region included in the route information of the target travel route P based on the target travel route P and the output of the positioning unit 21. The operation of the brake operation mechanism 15 is automatically controlled so as to properly brake the wheel 6.

In the automatic steering control, the steering angle setting unit 184 sets the target of the left and right front wheels 5 based on the route information of the target travel route P and the output of the positioning unit 21 so that the tractor 1 automatically travels on the target travel route P. The steering angle is obtained and set, and the set target steering angle is output to the power steering mechanism 14. The power steering mechanism 14 automatically steers the left and right front wheels 5 based on the target steering angle and the output of the steering angle sensor 20 so that the target steering angle is obtained as the steering angle of the left and right front wheels 5.

In the automatic work control, the work device control unit 183 performs work such as the start of the work path P1 (see, for example, FIG. 3) by the tractor 1 based on the route information of the target travel path P and the output of the positioning unit 21. A predetermined work (for example, tilling work) by the work apparatus 12 is started as the start point is reached, and the tractor 1 reaches the work end point such as the end of the work path P1 (for example, see FIG. 3). Along with this, the operation of the clutch operation mechanism 16 and the elevating drive mechanism 17 is automatically controlled so that the predetermined work by the work device 12 is stopped.

In this way, in the tractor 1, the transmission 13, the power steering mechanism 14, the brake operation mechanism 15, the clutch operation mechanism 16, the elevating drive mechanism 17, the in-vehicle electronic control unit 18, the vehicle speed sensor 19, the steering angle sensor 20, and the positioning. The automatic traveling unit 2 is composed of the unit 21, the communication module 25, and the like.

In this embodiment, it is possible not only to automatically drive the tractor 1 without the user or the like boarding the cabin 10, but also to automatically drive the tractor 1 with the user or the like boarding the cabin 10. Therefore, not only can the tractor 1 be automatically driven along the target travel path P by the automatic driving control by the in-vehicle electronic control unit 18 without the user or the like boarding the cabin 10, but also the user or the like can board the cabin 10. Even in this case, the tractor 1 can be automatically driven along the target traveling path P by the automatic traveling control by the vehicle-mounted electronic control unit 18.

When a user or the like is on board the cabin 10, the vehicle-mounted electronic control unit 18 switches between an automatic driving state in which the tractor 1 is automatically driven and a manual driving state in which the tractor 1 is driven based on the driving of the user and the like. be able to. Therefore, it is possible to switch from the automatic driving state to the manual driving state while the target traveling route P is automatically traveling in the automatic driving state, and conversely, the manual driving is performed while the vehicle is traveling in the manual driving state. It is possible to switch from the state to the automatic driving state. Regarding switching between the manual driving state and the automatic driving state, for example, a switching operation unit for switching between the automatic driving state and the manual driving state can be provided in the vicinity of the driver's seat 39, and the switching operation unit is carried. It can also be displayed on the display unit 51 of the communication terminal 3. Further, when the user operates the steering wheel 38 during the automatic driving control by the vehicle-mounted electronic control unit 18, the automatic driving state can be switched to the manual driving state.

As shown in FIGS. 1 and 2, the tractor 1 is provided with an obstacle detection system 100 for detecting an obstacle around the tractor 1 (traveling machine 7) and avoiding a collision with the obstacle. ing. The obstacle detection system 100 includes a plurality of lidar sensors 101 and 102 capable of measuring the distance to the object to be measured in three dimensions using a laser, and a plurality of lidar sensors 101 and 102 capable of measuring the distance to the object to be measured using ultrasonic waves. The sonar units 103 and 104 having sonar, an obstacle detection unit 110, and a collision avoidance control unit 111 are provided.

The measurement target to be measured by the rider sensors 101, 102 and the sonar units 103, 104 is an object, a person, or the like. The rider sensors 101 and 102 include a front rider sensor 101 whose measurement target is the front side of the tractor 1 and a rear rider sensor 102 whose measurement target is the rear side of the tractor 1. The sonar units 103 and 104 include a right-side sonar unit 103 whose measurement target is the right side of the tractor 1 and a left-side sonar unit 104 whose measurement target is the left side of the tractor 1.

The obstacle detection unit 110 performs obstacle detection processing for detecting an object to be measured such as an object or a person within a predetermined distance as an obstacle based on the measurement information of the rider sensors 101, 102 and the sonar units 103, 104. It is configured in. The collision avoidance control unit 111 is configured to perform collision avoidance control for decelerating the tractor 1 or stopping the traveling of the tractor 1 when the obstacle detection unit 110 detects an obstacle. In the collision avoidance control, the collision avoidance control unit 111 not only decelerates the tractor 1 or stops the tractor 1 from traveling, but also activates a notification device 26 such as a notification buzzer and a notification lamp to indicate that an obstacle exists. I am informing you. In the collision avoidance control, the collision avoidance control unit 111 communicates with the mobile communication terminal 3 from the tractor 1 by using the communication modules 25 and 55 to display the existence of the obstacle on the display unit 51, so that the obstacle exists. It is possible to notify what to do.

The obstacle detection unit 110 repeatedly performs obstacle detection processing based on the measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104 in real time to appropriately detect obstacles such as objects and people. The collision avoidance control unit 111 performs collision avoidance control for avoiding a collision with an obstacle detected in real time.

The obstacle detection unit 110 and the collision avoidance control unit 111 are provided in the vehicle-mounted electronic control unit 18. The in-vehicle electronic control unit 18 is communicably connected to the electronic control unit for the engine, the rider sensors 101, 102, the sonar units 103, 104, etc. included in the common rail system via CAN (Controller Area Network). There is.

Hereinafter, the generation of the target travel path P by the travel route generation unit 53 will be described.
When the travel route generation unit 53 generates the target travel route P, a user such as a driver or an administrator may use a work vehicle or the like according to an input guide for setting a target travel route displayed on the display unit 51 of the mobile communication terminal 3. Vehicle body information such as the type and model of the work device 12 is input, and the input vehicle body information is stored in the terminal storage unit 54. The work area Q (see FIG. 3) for which the target travel path P is to be generated is set as a field, and the terminal electronic control unit 52 of the mobile communication terminal 3 acquires field information including the shape and position of the field and is a terminal storage unit. I remember it in 54.

Explaining the acquisition of field information, when a user or the like drives and actually drives the tractor 1, the terminal electronic control unit 52 obtains the shape and position of the field from the current position of the tractor 1 acquired by the positioning unit 21. It is possible to acquire the position information for specifying the above. The terminal electronic control unit 52 specifies the shape and position of the field from the acquired position information, and acquires the field information including the work area Q specified from the shape and position of the specified field. FIG. 3 shows an example in which a rectangular work area Q is specified.

As shown in FIG. 2, the mobile communication terminal 3 sets a start point setting unit 56 for setting a start point S and a goal point G in the work area Q in the field information stored in the terminal storage unit 54. A goal point setting unit 57 is provided. In order to input the start point and the goal point, the terminal electronic control unit 52 causes the display unit 51 to display an input screen including the work area Q, for example, as shown in FIG. When the user or the like specifies a start point on the input screen, the start point setting unit 56 sets the designated position as the start point S. Similarly, when the user or the like designates a goal point on the input screen, the goal point setting unit 57 sets the designated position as the goal point G. The start point S set by the start point setting unit 56 and the goal point G set by the goal point setting unit 57 are stored in the terminal storage unit 54 by the terminal electronic control unit 52.

The travel route generation unit 53 is set by the start point S set by the start point setting unit 56 and the goal point setting unit 57, in addition to the field information and vehicle body information stored in the terminal storage unit 54. The target travel path P is generated using the goal point G. As shown in FIG. 3, the traveling route generation unit 53 divides the work area Q into a central area R1 and an outer peripheral area R2. The central area R1 is set in the central portion of the work area Q, and is a reciprocating work area in which the tractor 1 is automatically driven in the reciprocating direction to perform predetermined work (for example, work such as tillage). The outer peripheral region R2 is set around the central region R1. The travel path generation unit 53 is required to rotate the tractor 1 at the shore of the field based on, for example, the turning radius included in the turning information, the front-rear width and the left-right width of the tractor 1 included in the vehicle body information, and the like. We are looking for space for driving. The travel route generation unit 53 divides the work area Q into a central area R1 and an outer peripheral area R2 so as to secure a space or the like obtained on the outer periphery of the central area R1.

As shown in FIG. 3, the travel route generation unit 53 designates a start position S1 corresponding to the start point S and an end position G1 corresponding to the goal point G, and a target connecting the start position S1 to the end position G1. The travel path P is generated. The target travel path P has a plurality of linear work paths P1 having the same straight-line distance in the central region R1 and arranged in parallel with a certain distance corresponding to the work width. The plurality of work routes P1 are routes for performing predetermined work while traveling the tractor 1 in a straight line. The connecting path P2 is a path for changing the traveling direction of the tractor 1 by 180 degrees without performing a predetermined work, and connects the end of the work path P1 and the start end of the next adjacent work path P1. .. Incidentally, the target travel route P shown in FIG. 3 is merely an example, and the target travel route to be set can be appropriately changed.

The user or the like can specify the start point S and the goal point G at arbitrary positions in the work area Q. For example, a start point S and a goal point G can be designated near the entrance / exit of the work area Q. In this case, the automatic traveling of the tractor 1 can be started near the entrance / exit of the work area Q, and the automatic traveling of the tractor 1 can be ended near the entrance / exit of the work area Q. Further, it is also possible to specify the start point S at a location far from the entrance / exit of the work area Q and the goal point G at a location near the entrance / exit of the work area Q. In this case, the automatic traveling of the tractor 1 is started from a place away from the entrance / exit of the work area Q, the tractor 1 is automatically traveled so as to approach the entrance / exit of the work area Q, and the tractor is near the entrance / exit of the work area Q. The automatic running of 1 can be ended.

In this automatic traveling system, not only the traveling route generation unit 53 generates the target traveling route P, but also the mobile communication terminal 3 has a target from the start point S (corresponding to the designated position) set in the work area Q. A guide route generation unit 58 for generating a guide route T (see FIG. 4A) connecting to the start position S1 of the travel route P is provided. Incidentally, in FIG. 4, in the target travel path P, only the work path P1 around the start position S1 is shown.

The guide route generation unit 58 generates a guide route T that connects the start point S arbitrarily designated by the user or the like to the start position S1 of the target travel route P, but is desired depending on the position of the designated start point S. It may not be possible to generate the guide path T of. Therefore, as shown in FIG. 2, in the mobile communication terminal 3, the start point S is set in advance when the guide route non-generation condition in which the desired guide route T cannot be generated by the guide route generation unit 58 is satisfied. A start point change setting unit 59 (corresponding to a designated position change setting unit) for changing and setting the specific position S2 is provided.

Hereinafter, the operation when the guide path T is generated will be described with reference to the flowchart of FIG. 5 and FIG.

First, the guide route non-generation condition will be described. In FIG. 4B, a region where the distance between the start point S and the start position S1 of the target travel path P is a predetermined distance r or less is defined as a region V surrounded by a dotted line.

If the direction of the tractor 1 at the start point S and the direction of the tractor 1 at the start position S1 of the target travel path P are different, the tractor 1 is turned to match the directions. At this time, if the starting point S exists in the region V, a sufficient turning radius cannot be obtained. Therefore, assuming that the guide path T is generated, an unintended guide path T that moves away from the start position S1 and then approaches is generated. Further, when the start point S exists in the region V, the distance between the start point S and the start position S1 is short, so that the traveling distance on the guide path T is short. Therefore, it is not possible to secure a mileage sufficient to align the tractor 1 with respect to the start position S1, the tractor 1 is displaced with respect to the start position S1, and the tractor 1 along the target travel path P. It will not be possible to start automatic driving smoothly. Further, when the work device 12 starts the work in a state where the work device 12 is lowered to a predetermined lowering position, such as a rotary tiller, the tractor 1 is before reaching the start position S1. When the work device 12 is started to descend to the descending position and the work device 12 is lowered to the descending position when the start position S1 is reached, the work can be smoothly started from the start position S1. However, if the start point S exists in the region V and the mileage to the start position S1 becomes short, it is not possible to secure enough time to lower the work device 12 to the lower position, and when the start position S1 is reached. The working device 12 cannot be lowered to the lowered position.

Therefore, the guide route non-generation condition is set so that the distance between the start point S and the start position S1 of the target travel route P is a predetermined distance r or less. The guide path non-generation condition is not limited to this condition, and for example, the generated guide path T is set to be far from the start position S1, or the tractor 1 is set along the generated guide path T. It can also be set depending on whether or not it can be automatically driven, and various conditions can be set.

As shown in FIG. 4B, when the start point S exists in the area V, the start point change setting unit 59 determines that the guide route non-generation condition is satisfied (step # in FIG. 5). In the case of Yes of 1). On the contrary, when the start point S exists outside the region V, the start point change setting unit 59 determines that the guide route non-generation condition is not satisfied (in the case of No in step # 1 in FIG. 5). ..

When the guide route non-generation condition is satisfied, the start point change setting unit 59 changes the start point S to the preset specific position S2 (in FIG. 5, Yes of step # 1). If so, step # 2). As shown in FIG. 4C, the specific position S2 is set at a position on the extension line of the work path P1 on the side opposite to the direction in which the work path P1 extends from the start position S1 by a predetermined distance.

When the start point change setting unit 59 changes the start point S to the specific position S2, the guide route generation unit 58 changes the start point S to the start position S1 as shown in FIG. 4 (c). The guide path T to be connected is generated (step # 3 in FIG. 5). The guide path T at this time is a linear path.

When the guide route non-generation condition is not satisfied, as shown in FIG. 4A, the guide route generation unit 58 connects the guide route T from the start point S arbitrarily designated by the user or the like to the start position S1. (In the case of No in step # 1 in FIG. 5, step # 3). The shape of the guide path T at this time changes according to the positional relationship between the start point S and the start position S1, but basically, a guide path T approaching from the start point S toward the start position S1 is generated. Will be done.

FIG. 6 describes an operation when the automatic traveling of the tractor 1 is started when the guide path T is generated by the guide route generation unit 58 based on the flowchart.
First, the user or the like moves the tractor 1 to the start point S, and it is determined whether or not various automatic driving start conditions are satisfied (step # 11). When the user or the like operates the display unit 51 of the mobile communication terminal 3 to receive an instruction to start automatic driving when the automatic driving start condition is satisfied, the vehicle-mounted electronic control unit 18 (corresponding to the guidance control unit). However, the automatic traveling control for automatically traveling the tractor 1 is performed (in the case of Yes in step # 11, in the case of Yes in step # 12, step # 13). In this automatic driving control, first, the tractor 1 is automatically traveled along the guide path T, and when the tractor 1 reaches the start position P1 of the target travel route P, the tractor 1 is subsequently automatically traveled along the target travel route P. I'm letting you.

When the guide path generation unit 58 generates the guide path T, the terminal electronic control unit 52 stores the guide path T in the terminal storage unit 54, and also uses the communication module 55 to transmit the guide route information regarding the guide route T. ing. The in-vehicle electronic control unit 18 uses the guidance route information received by the communication module 25 to perform automatic travel control for automatically traveling the tractor 1 along the guidance route T.

By the way, even when the guide route generation unit 58 generates the guide route T, the user or the like moves the tractor 1 to the start position S1 of the target travel route P so that the tractor 1 automatically travels along the target travel route P. Can be started. In this case, in the state where the tractor 1 is moved to the start position S1, it is determined whether or not various automatic driving start conditions are satisfied, and when the automatic driving start conditions are satisfied, an instruction to start automatic driving is instructed. Upon receiving the above, the vehicle-mounted electronic control unit 18 has started automatic driving control.

[Another Embodiment]
Other embodiments of the present invention will be described.
It should be noted that the configurations of the respective embodiments described below are not limited to being applied independently, but can also be applied in combination with the configurations of other embodiments.

(1) The configuration of the work vehicle can be changed in various ways.
For example, the work vehicle may be configured to have a hybrid specification including an engine 9 and an electric motor for traveling, or may be configured to have an electric specification including an electric motor for traveling instead of the engine 9. ..
For example, the work vehicle may be configured as a semi-crawler specification in which left and right crawlers are provided instead of the left and right rear wheels 6 as a traveling portion.
For example, the work vehicle may be configured with rear wheel steering specifications in which the left and right rear wheels 6 function as steering wheels.

(2) In the above embodiment, an example is shown in which the mobile communication terminal 3 is provided with a travel route generation unit 53, a start point setting unit 56, a goal point setting unit 57, a guidance route generation unit 58, and a start point change setting unit 59. However, for example, a travel route generation unit 53, a start point setting unit 56, a goal point setting unit 57, a guidance route generation unit 58, and a start point change setting unit 59 may be provided on the work vehicle side of the tractor 1, an external management device, or the like. You can also prepare for.

1 Tractor (working vehicle)
18 In-vehicle electronic control unit (automatic driving control unit, guidance control unit)
54 Terminal storage unit (travel route storage unit)
58 Guidance route generation unit 59 Start point change setting unit (designated position change setting unit)
P1 work route (straight line travel route)
Q Work area S Start point (designated position)
S1 start position G1 end position

Claims (3)

A travel route storage unit that stores a target travel route with a start position and an end position specified for the work area, and a travel route storage unit.
Based on the positioning information of the work vehicle acquired by the satellite positioning system, the automatic driving control unit that performs automatic driving control to automatically drive the work vehicle along the target driving route, and
A guide route generator that generates a guide route that connects a designated position arbitrarily set in the work area to the start position of the target travel route, and a guide route generator.
A guidance control unit that automatically travels and guides the work vehicle along the guidance route based on the positioning information of the work vehicle acquired by the satellite positioning system.
When the guide route non-generation condition that the desired guide route cannot be generated is satisfied by the guide route generation unit, the designated position is set to a specific position preset to a position where the guide route non-generation condition is not satisfied. An automatic driving system equipped with a designated position change setting unit to change and set to. The automatic traveling system according to claim 1, wherein the guide route non-establishment condition is set so that the distance between the designated position and the start position of the target traveling route is set to be equal to or less than a predetermined distance. The automatic traveling system according to claim 1 or 2, wherein the target traveling route has a linear linear traveling route starting from a start position, and the specific position is set on an extension of the linear traveling route.

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