JP2021002389A - Work vehicle control device - Google Patents

Abstract

To provide a work vehicle control device capable of executing control to smoothly transition a mode from a mode to cause the work vehicle to manually travel to a mode to cause the work vehicle to autonomously travel.SOLUTION: A work vehicle control device includes a forward and backward travel control part, and a travel mode control part. The forward and backward travel control part controls forward and backward travel of the work vehicle. The travel mode control part executes one of a plurality of modes including at least a manual travel mode in which forward and backward travel of the work vehicle is performed according to an operation of an operation tool provided to the work vehicle, and an autonomous travel mode in which the forward and backward travel of the work vehicle is controlled without depending on the operation of the operation tool. The travel mode control part executes the autonomous travel mode by satisfying an autonomous travel start condition. A forward/backward travel switching tool can be switched at least among a forward travel position, a neutral position, and a backward travel position. When the forward/backward travel switching tool is in the forward travel position, the autonomous travel start condition can be satisfied.SELECTED DRAWING: Figure 5

Description

The present invention mainly relates to a work vehicle control device capable of autonomously driving a work vehicle along a travel path.

Conventionally, a work vehicle capable of switching between a traveling mode in which the work vehicle is manually traveled and a traveling mode in which the work vehicle is autonomously traveled (automatic traveling) has been known. Patent Document 1 discloses this type of work vehicle.

Patent Document 1 describes that the forward / backward switching means must be neutral as a condition for shifting from the traveling mode in which the work vehicle is manually traveled to the traveling mode in which the work vehicle is autonomously traveled.

Japanese Unexamined Patent Publication No. 2014-182453

However, when it is necessary that the forward / backward switching means is neutral when the traveling mode is switched, it is necessary to stop the work vehicle each time the traveling mode is switched. Therefore, it was not possible to smoothly shift from the traveling mode in which the work vehicle is manually driven to the traveling mode in which the work vehicle is autonomously driven.

The present invention has been made in view of the above circumstances, and a main object thereof is to be able to control a smooth transition from a traveling mode in which a work vehicle is manually driven to a traveling mode in which a work vehicle is autonomously driven. It is an object of the present invention to provide a work vehicle control device capable of confirming whether or not an operator has an intention of automatic driving.

Means and effects to solve problems

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and its effect will be described.

From the viewpoint of the present invention, a work vehicle control device having the following configuration is provided. That is, the work vehicle control device includes a forward / backward movement control unit and a traveling mode control unit. The forward / backward movement control unit controls the forward / backward movement of the work vehicle. The traveling mode control unit performs a manual traveling mode in which the work vehicle moves forward and backward in response to an operation of an operating tool included in the working vehicle, and moves the work vehicle forward and backward regardless of the operation of the operating tool. One driving mode is executed from a plurality of driving modes including at least an autonomous driving mode to be controlled. The traveling mode control unit executes the autonomous traveling mode by satisfying the autonomous traveling start condition. The forward / backward switching operation tool included in the work vehicle can be switched at least between a forward position, a neutral position, and a reverse position. It is possible to satisfy the autonomous traveling start condition when the forward / backward switching operation tool is in the forward position. When the traveling mode control unit executes the autonomous traveling mode with the forward / backward switching operating tool located at the forward position, the traveling mode control unit advances the forward / backward movement after the execution of the autonomous driving mode and before a predetermined time elapses. When the switching operation tool is not changed to the neutral position, a warning is issued to the effect that the autonomous traveling mode is terminated.

As a result, even if the forward / backward switching operation tool is located at the forward position, the autonomous traveling start condition is satisfied, so that the manual traveling can be shifted to the autonomous traveling without stopping the work vehicle. In addition, it can be confirmed that the operator has decided to shift to autonomous driving. Therefore, the switching from manual driving to autonomous driving can be smoothly performed, and safety can be enhanced.

In the work vehicle control device, the traveling mode control unit continues the autonomous traveling mode when the forward / backward switching operation tool is changed to the neutral position before the elapse of the predetermined period.

As a result, the autonomous traveling mode can be continued while the forward / backward switching operation tool is located in the neutral position, so that it is possible to prevent the work vehicle from moving regardless of the intention of the operator.

The traveling mode control unit ends the autonomous traveling mode when the forward / backward switching operation tool is not changed to the neutral position before the elapse of the predetermined period.

As a result, it is possible to prevent the autonomous driving mode from continuing while the forward / backward switching operation tool is located in the forward position, so that the work vehicle moves regardless of the operator's intention when returning to manual driving again. Can be prevented.

FIG. 5 is a side view showing an overall configuration of a tractor including a control device according to an embodiment of the present invention. Top view of the tractor. The figure which shows the wireless communication terminal. The block diagram which shows the main structure of the control system of a tractor and a wireless communication terminal. Explanatory drawing which shows the driving mode type and the transition condition of a driving mode. A flowchart showing a process of specifying a work route where autonomous driving can be started. The figure which shows the candidate of the work route which can start autonomous driving. The figure explaining the condition which determines whether or not it is a work route which can start autonomous driving.

Next, an embodiment of the present invention will be described with reference to the drawings. In the following, the same members may be designated by the same reference numerals in each of the drawings, and redundant description may be omitted. In addition, the names of members and the like corresponding to the same reference numerals may be simply paraphrased, or may be paraphrased by the names of superordinate concepts or subordinate concepts.

The autonomous traveling system autonomously causes one or a plurality of work vehicles to travel in a work area and a non-work area to execute all or a part of the work. In the present embodiment, a tractor will be described as an example of a work vehicle, but the work vehicle includes a tractor, a rice transplanter, a combine harvester, a civil engineering / construction work device, a snowplow, and other passenger-type work machines, as well as a walking type work. Machines are also included. In the present specification, the autonomous traveling means that the tractor travels along a predetermined route by controlling the configuration related to the traveling provided by the tractor by the control unit (ECU) provided in the tractor, and the autonomous work means that the tractor travels along a predetermined route. It means that the configuration related to the work included in the tractor is controlled by the control unit provided in the tractor, and the tractor performs the work along a predetermined route. It should be noted that, during autonomous driving and autonomous work, there are cases where a person is on the tractor and cases where no person is on the tractor. On the other hand, the manual traveling / manual work means that each configuration provided in the tractor is operated by the user to perform the traveling / working.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing an overall configuration of a tractor 1 provided in an autonomous traveling system 99 according to an embodiment of the present invention. FIG. 2 is a plan view of the tractor 1. FIG. 3 is a diagram showing a wireless communication terminal 46. FIG. 4 is a block diagram showing a main configuration of a control system of the tractor 1 and the wireless communication terminal 46.

As shown in FIG. 1, the tractor 1 provided in the autonomous traveling system 99 is a work vehicle operated by performing wireless communication with the wireless communication terminal 46. The user can operate the wireless communication terminal 46 to appropriately exchange signals with the control unit (work vehicle control device) 4 of the tractor 1 to cause the tractor 1 to autonomously travel and perform autonomous work.

First, the tractor 1 provided in the autonomous traveling system 99 will be described mainly with reference to FIGS. 1 and 2.

The tractor 1 includes a traveling machine body (body portion) 2 capable of autonomously traveling in a field (traveling area). The working machine 3 shown in FIGS. 1 and 2 is detachably attached to the traveling machine body 2. As the working machine 3, for example, there are various working machines such as a cultivator, a plow, a fertilizer applicator, a grass mower, and a seeder, and a desired working machine 3 is selected from these as necessary and a traveling machine. Can be attached to 2. The traveling machine body 2 is configured so that the height and posture of the mounted work machine 3 can be changed.

The configuration of the tractor 1 will be described in more detail with reference to FIGS. 1 and 2. As shown in FIG. 1, the traveling body 2 of the tractor 1 is supported by a pair of left and right front wheels (wheels) 7, 7 and a rear portion supported by a pair of left and right rear wheels 8, 8. There is.

A bonnet 9 is arranged at the front portion of the traveling machine body 2. The engine 10 and the fuel tank (not shown), which are the drive sources of the tractor 1, are housed in the bonnet 9. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. Further, as the drive source, an electric motor may be used in addition to or instead of the engine.

Behind the bonnet 9, a cabin 11 for the user to board is arranged. Inside the cabin 11, there are a steering handle (steering wheel) 12 for the user to steer, a seat 13 for the user to sit on, and various operating tools for performing various operations. It is mainly provided. However, the work vehicle such as the tractor 1 is not limited to the one with the cabin 11, and may not be equipped with the cabin 11.

The operating tools include the monitor device 14, the throttle lever 15, the main shift lever 27, a plurality of hydraulic operating levers 16, the PTO switch 17, the PTO shift lever 18, the auxiliary shift lever 19, and the forward / reverse switching lever 25 shown in FIG. , Parking brake 26, work equipment lift switch 28, brake pedal 61, clutch pedal 62, accelerator pedal 63, and the like can be mentioned as examples. These operating devices are arranged near the seat 13 or near the steering wheel 12.

The monitoring device 14 is configured to be able to display various information of the tractor 1. The throttle lever 15 is an operating tool for setting the rotation speed of the engine 10. The main shift lever 27 is an operating tool for steplessly changing the traveling speed of the tractor 1. The flood control operating lever 16 is an operating tool for switching and operating the flood control external take-out valve (not shown). The PTO switch 17 is an operating tool for switching between transmission / cutoff of power to the illustrated PTO shaft (power take-off shaft) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft and drive the work equipment 3, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate, and the work machine 3 is stopped. The PTO shift lever 18 is for changing the power input to the work machine 3, and specifically, is an operating tool for shifting the rotation speed of the PTO shaft. The auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22. The forward / backward switching lever 25 is configured to be switchable between a forward position, a neutral position, and a reverse position. When the forward / backward switching lever 25 is located in the forward position, the power of the engine 10 is transmitted to the rear wheels 8 to advance the tractor 1. When the forward / backward switching lever 25 is located in the neutral position, the tractor 1 does not move forward or backward. When the forward / backward switching lever 25 is located in the reverse position, the power of the engine 10 is transmitted to the rear wheels 8 to move the tractor 1 backward. The parking brake (braking operation tool) 26 is an operation tool that is manually operated by the user to generate a braking force, and is used, for example, when the tractor 1 is stopped for a while. The work machine elevating switch 28 is an operating tool for raising and lowering the height of the work machine 3 mounted on the traveling machine body 2 within a predetermined range. The brake pedal (braking operation tool) 61 is an operation tool that the user operates with his / her foot to generate a braking force. The clutch pedal 62 is an operating tool for the user to switch between transmission and non-transmission of the clutch with his / her foot. The accelerator pedal 63 is an operating tool that increases the rotational speed of the engine 10. An accelerator lever may be arranged in place of or in addition to the accelerator pedal 63.

As shown in FIG. 1, a chassis 20 of the tractor 1 is provided in the lower part of the traveling machine body 2. The chassis 20 is composed of an airframe frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

The airframe frame 21 is a support member at the front portion of the tractor 1, and supports the engine 10 directly or via a vibration isolator or the like. The transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

As shown in FIG. 4, the tractor 1 includes the operation of the traveling machine 2 (forward, reverse, stop, turning, etc.), the traveling mode (manual traveling mode, autonomous traveling mode, etc.), and the operation of the working machine 3 (elevation, driving). The control unit 4 is provided for controlling (and stopping, etc.) and performing processing related to the route. Therefore, the control unit 4 is configured to include a forward / backward movement control unit 4a for controlling forward / backward movement, a traveling mode control unit 4b, and a route processing unit 4c. The control unit 4 is configured to include a CPU, ROM, RAM, I / O, etc. (not shown), and the CPU can read various programs and the like from the ROM and execute them. A controller for controlling each configuration (for example, engine 10 or the like) included in the tractor 1 and a wireless communication unit 40 or the like capable of wirelessly communicating with other wireless communication devices are electrically connected to the control unit 4, respectively. ing.

As the above controller, the tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, and an elevating controller (not shown). Each controller can control each configuration of the tractor 1 according to an electric signal from the control unit 4.

The engine controller controls the rotation speed of the engine 10 and the like. Specifically, the engine 10 is provided with a governor device 41 provided with an actuator (not shown) for changing the rotation speed of the engine 10. The engine controller can control the rotation speed of the engine 10 by controlling the governor device 41. Further, the engine 10 is provided with a fuel injection device 45 for adjusting the injection timing and injection amount of fuel for injection (supply) into the combustion chamber of the engine 10. By controlling the fuel injection device 45, the engine controller can, for example, stop the supply of fuel to the engine 10 and stop the driving of the engine 10.

The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with, for example, a transmission 42 which is a movable sloping plate type hydraulic continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 and realize a desired vehicle speed by changing the angle of the swash plate of the transmission 42 with an actuator (not shown).

The steering controller controls the rotation angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotation shaft (steering shaft) of the steering handle 12. In this configuration, when the tractor 1 travels on a predetermined route, the control unit 4 calculates and obtains an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. A control signal is output to the steering controller so that the rotation angle is set. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 to control the rotation angle of the steering handle 12.

The elevating controller controls the elevating and lowering of the work machine 3. Specifically, the tractor 1 includes an elevating actuator 44 made of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism that connects the working machine 3 to the traveling machine body 2. In this configuration, the elevating controller drives the elevating actuator 44 based on the control signal input from the control unit 4 to appropriately raise and lower the working machine 3, so that the working machine 3 can perform agricultural work at a desired height. It can be carried out. By this control, the working machine 3 can be supported at a desired height such as a retracted height (height at which agricultural work is not performed) and a working height (height at which agricultural work is performed).

Since the plurality of controllers in the above-mentioned illustration control each part of the engine 10 and the like based on the signal input from the control unit 4, it is said that the control unit 4 substantially controls each part. Can be grasped.

The tractor 1 provided with the control unit 4 as described above controls each part of the tractor 1 (traveling machine 2, working machine 3, etc.) by the control unit 4 when the user gets on the cabin 11 and performs various operations. Therefore, it is configured so that farm work can be performed while traveling in the field. Further, the tractor 1 can perform autonomous traveling and autonomous work based on a predetermined control signal output by the wireless communication terminal 46 while the user is on the tractor 1. The tractor 1 has a function of autonomously traveling even when the user is not on the tractor 1.

Specifically, as shown in FIG. 4 and the like, the tractor 1 has various configurations for enabling autonomous traveling and autonomous work. For example, the tractor 1 includes a positioning antenna 6 and the like necessary for acquiring the position information of itself (traveling aircraft 2) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously travel on the field.

Next, the configuration included in the tractor 1 to enable autonomous traveling will be described in more detail. Specifically, as shown in FIG. 4, the tractor 1 of the present embodiment includes a positioning antenna 6, a wireless communication antenna 48, a front camera 56, a rear camera 57, a storage unit 55, a vehicle speed sensor 53, and a rudder. It includes an angle sensor 52 and the like. In addition to these, the tractor 1 is provided with an inertial measurement unit (IMU) capable of specifying the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

The positioning antenna 6 receives a signal from a positioning satellite that constitutes a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 92 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information acquisition unit 49 as the position detection unit shown in FIG. The position information acquisition unit 49 calculates and acquires the position information of the traveling body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as latitude / longitude information, for example. The position information acquired by the position information acquisition unit 49 is input to the control unit 4 and used for autonomous traveling.

In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems can be used as long as high-precision position coordinates can be obtained. May be good. For example, it is conceivable to use the relative positioning system (DGPS) or the geostationary satellite navigation augmentation system (SBAS).

The wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user, and transmits a signal to the wireless communication terminal 46. As shown in FIG. 1, the wireless communication antenna 48 is attached to the upper surface of the roof 92 included in the cabin 11 of the tractor 1. The signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is signal-processed by the wireless communication unit 40 shown in FIG. 4 and then input to the control unit 4. Further, the signal transmitted from the control unit 4 or the like to the wireless communication terminal 46 is signal-processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

The front camera 56 captures the front of the tractor 1. The rear camera 57 captures the rear of the tractor 1. The front camera 56 and the rear camera 57 are attached to the roof 92 of the tractor 1. The moving image data captured by the front camera 56 and the rear camera 57 is transmitted from the wireless communication antenna 48 to the wireless communication terminal 46 by the wireless communication unit 40. The wireless communication terminal 46 that has received the moving image data displays the contents on the display 37.

The vehicle speed sensor 53 detects the vehicle speed of the tractor 1, and is provided on the axle between the front wheels 7 and 7, for example. The detection result data obtained by the vehicle speed sensor 53 is output to the control unit 4. The vehicle speed of the tractor 1 may be calculated based on the moving time of the tractor 1 at a predetermined distance based on the positioning antenna 6 without being detected by the vehicle speed sensor 53. The steering angle sensor 52 is a sensor that detects the steering angles of the front wheels 7 and 7. In the present embodiment, the steering angle sensor 52 is provided on a kingpin (not shown) provided on the front wheels 7 and 7. The detection result data obtained by the steering angle sensor 52 is output to the control unit 4. The steering angle sensor 52 may be provided in the steering handle 12.

The storage unit 55 stores a travel route for autonomously traveling the tractor 1 and a work route for autonomous work, and stores a transition (traveling locus) of the position of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous travel. It is a memory to do. In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work autonomously.

As shown in FIG. 3, the wireless communication terminal 46 is configured as a tablet-type personal computer provided with a touch panel 39. The user can confirm by referring to the information displayed on the display 37 of the wireless communication terminal 46 (for example, the information from the front camera 56, the rear camera 57, the vehicle speed sensor 53, and the like). Further, the user operates the touch panel 39, the hardware key 38 arranged in the vicinity of the display 37, or the like, and gives the control unit 4 of the tractor 1 a control signal (for example, temporary) for controlling the tractor 1. (Stop signal, etc.) can be transmitted. The wireless communication terminal 46 is not limited to a tablet-type personal computer, and instead, for example, a notebook-type personal computer can be configured. Further, when the tractor 1 is allowed to perform autonomous traveling / autonomous work while the user is on the tractor 1, the tractor 1 side (for example, the monitoring device 14) may have the same function as the wireless communication terminal 46.

The tractor 1 configured in this way performs farm work by the work machine 3 along the work path P1 while traveling along the travel path P on the field based on the instruction of the user using the wireless communication terminal 46. Can be done.

Specifically, the user makes various settings using the wireless communication terminal 46 to connect a linear or polygonal work path P1 for performing agricultural work and an arc-shaped turning circuit connecting the ends of the work path P1. It is possible to generate a traveling route (path) P as a series of routes in which (a non-working route in which the tractor 1 turns) P2 and P2 are alternately connected (see FIG. 7). Then, the information of the traveling path (working path P1 and non-working path P2) P generated in this way is input (transferred) to the storage unit 55 electrically connected to the control unit 4 of the tractor 1 to be predetermined. By performing the operation, the tractor 1 can be controlled by the control unit 4, and the tractor 1 can be autonomously driven by the work machine 3 along the work path P1 while being autonomously traveled along the travel path P.

Hereinafter, the configuration of the wireless communication terminal 46 will be described in more detail with reference to FIGS. 3 to 5.

As shown in FIGS. 3 and 4, the wireless communication terminal 46 of the present embodiment has a display 37, a hardware key 38, and a touch panel 39, as well as a display control unit 31 and a storage unit 32 as main configurations of the control system. , A field acquisition unit 33, a work area acquisition unit 34, a travel route acquisition unit 35, and the like.

Specifically, the wireless communication terminal 46 is configured as a computer as described above, and includes a CPU, a ROM, a RAM, and the like. Further, the ROM stores an appropriate program for causing the tractor 1 to perform autonomous traveling / autonomous work. By the cooperation of this software and hardware, the wireless communication terminal 46 can be operated as a display control unit 31, a storage unit 32, a field acquisition unit 33, a work area acquisition unit 34, a traveling route acquisition unit 35, and the like.

The display control unit 31 creates display data to be displayed on the display 37, and appropriately controls the display contents. For example, the display control unit 31 displays a predetermined monitoring screen, instruction screen, and the like on the display 37 while the tractor 1 is autonomously traveling along the traveling path P and autonomously performing the work along the working path P1.

The storage unit 32 stores information about the tractor 1 and information about the field input by the user by operating the touch panel 39 of the wireless communication terminal 46, and also stores the created travel path P (work path P1 and non-work path P2). ) Is a memory for storing information and the like.

The field acquisition unit 33 stores the position and shape of the field (traveling area) to which the tractor 1 performs autonomous traveling / autonomous work. The position and shape of the field can be obtained by, for example, the user boarding the tractor 1 and driving the tractor 1 to make one round around the outer circumference of the field and recording the transition of the position information of the positioning antenna 6 at that time. can do. The position and shape of the field acquired by the field acquisition unit 33 are stored in the storage unit 32 as field information.

The work area acquisition unit 34 sets the position of the work area for agricultural work, which is arranged in the field where the tractor 1 autonomously travels. Specifically, the wireless communication terminal 46 of the present embodiment is configured so that the width of the headland and the width of the non-cultivated land can be set by performing a predetermined operation. Then, the non-working area consisting of the headland and the non-cultivated land is determined based on the above setting contents and the position and shape of the field acquired by the field acquisition unit 33, and from the field area to the non-working area. The area excluding is defined as the work area.

The travel route acquisition unit 35 alternately connects a work route P1 in which the tractor 1 autonomously performs farm work in the field and a non-work route (turning circuit) P2 connecting the ends of the work route P1. Generate and acquire P. When the user inputs information necessary for generating the travel route P on the touch panel 39 or the like, the travel route acquisition unit 35 automatically creates the travel route P (work route P1 and non-work route P2) based on the information. .. The traveling path P is generated so that the linear or polygonal work path P1 is included in the work area and the non-work path (turning circuit) P2 is included in the non-work area such as a headland. The travel path P generated by the travel route acquisition unit 35 is stored in the storage unit 32.

The user appropriately operates the wireless communication terminal 46 to input (transfer) the information of the traveling route P generated by the traveling route acquisition unit 35 to the storage unit 55 of the tractor 1. After that, the user gets on the tractor 1 and drives the tractor 1 to arrange the tractor 1 at the start position of the traveling path P. Subsequently, the user gets off the tractor 1 and operates the wireless communication terminal 46 to instruct the start of autonomous traveling / autonomous work. As a result, the control unit 4 controls the traveling and farming work of the tractor 1 so that the tractor 1 travels along the traveling route P and performs farming work along the working path P1.

Next, the process of switching the traveling mode of the tractor 1 will be described with reference to FIGS. 5 to 8. FIG. 5 is an explanatory diagram showing a traveling mode type and a traveling mode transition condition. FIG. 6 is a flowchart showing a process of specifying a work route on which autonomous traveling can be started. FIG. 7 is a diagram showing candidates for work routes capable of autonomous traveling. FIG. 8 is a diagram illustrating a condition for determining whether or not the work route is capable of autonomous traveling.

By operating the touch panel 39 of the wireless communication terminal 46, the user can switch the tractor 1 from the manual driving mode to the automatic driving mode or from the automatic driving mode to the manual driving mode. It should be noted that the manual traveling mode and the automatic traveling mode of the tractor 1 may be switched between the manual traveling mode and the automatic traveling mode by operating the monitoring device 14 of the tractor 1 or the dedicated operating tool instead of the wireless communication terminal 46. However, when the user instructs to switch between the manual driving mode and the automatic driving mode, the switching is not performed unconditionally, but the switching is performed after other conditions are satisfied.

Specifically, as shown in FIG. 5, the tractor 1 of the present embodiment includes a manual driving execution mode, an autonomous driving preparation mode, a first autonomous driving execution mode, a second autonomous driving execution mode, and a manual driving preparation mode. Is set. Of these five traveling modes, the tractor 1 performs manual traveling in the manual traveling execution mode and the autonomous traveling preparation mode. Further, in the first autonomous traveling execution mode and the second autonomous traveling execution mode, the tractor 1 performs autonomous traveling. Further, in the manual travel preparation mode, the tractor 1 is stopped without performing manual travel and autonomous travel. Therefore, the manual driving execution mode and the autonomous driving preparation mode may be collectively referred to as a manual driving mode. Further, the first autonomous driving execution mode and the second autonomous driving execution mode may be collectively referred to as an automatic driving mode.

The driving mode classification method is an example, and any of the driving modes shown in FIG. 5 may be omitted. Further, a traveling mode other than the five driving modes shown in FIG. 5 may be included. For example, in order to shift from the autonomous driving preparation mode to the first autonomous driving execution mode, it is necessary to satisfy a plurality of conditions, and a state in which some of them are satisfied may be treated as another driving mode.

The manual traveling execution mode is a traveling mode for causing the tractor 1 to perform manual traveling. The autonomous driving preparation mode is a driving mode that is passed before shifting from the manual driving execution mode to the autonomous driving mode. In the autonomous travel preparation mode, the tractor 1 performs manual travel because it is before switching to autonomous travel.

The first autonomous traveling execution mode and the second autonomous traveling execution mode are traveling modes for causing the tractor 1 to perform autonomous traveling. When shifting from the autonomous driving preparation mode, the first autonomous driving implementation mode is first set. In the first autonomous driving execution mode, if a predetermined process (details will be described later) is not performed within a certain period of time, the mode shifts to the manual driving execution mode via the manual driving preparation mode or the like. That is, it can be said that the first autonomous driving mode is a (temporary) autonomous driving mode for a limited time. On the other hand, in the second autonomous travel execution mode, the travel mode is maintained unless an instruction to shift to the manual travel execution mode or an operation clearly desired for manual travel is performed. Therefore, it can be said that the second autonomous driving execution mode is a formal (original) autonomous driving mode. The manual driving preparation mode is a driving mode that may be passed when shifting from the autonomous driving mode to the manual driving execution mode. In the manual travel preparation mode, as described above, the tractor 1 is stopped without performing manual travel and autonomous travel.

Next, the transition conditions for each driving mode will be described in detail. The control for each travel mode is performed by the travel mode control unit 4b of the control unit 4.

First, the first mode transition condition, which is a condition for shifting from the manual driving execution mode to the autonomous driving preparation mode, will be described. As shown in FIG. 3, a plurality of condition items are set in the first mode transition condition, but these are and conditions, and when all of the plurality of condition items are satisfied, the autonomous driving preparation mode is set. Transition. Specific condition items are set to (a) the engine rotation speed is equal to or higher than a predetermined value (for example, idling speed or higher), and (b) no abnormality has occurred in the equipment (sensor, actuator, etc.). There is.

Regarding the condition (a), the control unit 4 acquires the engine rotation speed based on the detection result of a sensor or the like attached to the engine 10 and outputs a pulse according to the rotation of the crankshaft, and whether or not it is equal to or higher than a predetermined value. Is determined. Further, regarding the condition (b), the control unit 4 determines an abnormality of the device based on the detection results of various sensors and the like attached to the tractor 1. It should be noted that the abnormality of the equipment may be determined as the abnormality of all the equipment, but the abnormality is determined only for the equipment (position information acquisition unit 49, steering angle sensor 52, etc.) required for autonomous driving. May be good.

Next, the second mode transition condition, which is a condition for shifting from the autonomous driving preparation mode to the manual driving execution mode, will be described. As shown in FIG. 3, when the above-mentioned first mode transition condition is not satisfied, the traveling mode shifts to the manual traveling execution mode. That is, after satisfying the first mode transition condition and shifting to the autonomous driving preparation mode, if the first mode transition condition is not satisfied after the fact, the mode returns to the manual running execution mode. The second mode transition condition is treated with priority over the third mode transition condition. That is, if both the second mode transition condition and the third mode transition condition are satisfied, the second mode transition condition becomes more effective and the mode shifts to the manual driving execution mode.

Next, a third mode transition condition, which is a condition for shifting from the autonomous driving preparation mode to the first autonomous driving execution mode, will be described. As shown in FIG. 3, a plurality of condition items are set in the third mode transition condition, but these are and conditions, and when all of the plurality of condition items are satisfied, the first autonomous driving is executed. Move to mode. Specific condition items include (a) the forward / backward switching lever 25 is located in the forward position or the neutral position, and (b) the brake pedal 61, the clutch pedal 62, and the parking brake 26 are not operated. , (C) The shift position is on the lower speed side than the predetermined speed, (d) the steering angle is within the predetermined angle, (e) the route capable of autonomous driving has been specified, and (f) autonomous driving. It is set that there is an instruction to start.

Regarding the conditions (a) to (c), the control unit 4 operates each operating tool (forward / backward switching lever 25, brake pedal 61, clutch pedal 62, parking brake 26, main shift lever 27, and auxiliary shift lever 19). The state is acquired and determined based on the sensor provided on each operating tool or the electric signal output by each operating tool. Here, conventionally, since it was possible to shift to the autonomous driving mode only when the forward / backward switching lever 25 was in the neutral position, it was not possible to shift from the manual traveling mode to the automatic traveling mode unless the tractor 1 was stopped. On the other hand, in the present embodiment, the transition condition to the autonomous traveling mode (first autonomous traveling execution mode) is satisfied not only when the forward / backward switching lever 25 is in the neutral position but also in the forward position (first autonomous traveling execution mode). In other words, when the forward / backward switching lever 25 is in the reverse position, the condition for shifting to the autonomous traveling mode is not satisfied). Therefore, the manual traveling mode can be shifted to the autonomous traveling mode without stopping the tractor 1. In this case, since the forward / backward switching lever 25 shifts to the autonomous running mode while the forward / backward switching lever 25 is located at the forward position, the tractor 1 may run unintentionally when the manual running mode is subsequently shifted. is there. Therefore, in the tractor 1 of the present embodiment, various processes are performed in order to prevent the tractor 1 from traveling unintentionally by the user.

Regarding the condition (d), the control unit 4 acquires the steering angle based on the detection result of the steering angle sensor 52, and determines whether or not the steering angle is within a predetermined angle.

Regarding the condition (e), the control unit 4 performs the process shown in FIG. 6 to determine whether or not there is a work route capable of autonomous traveling. First, the control unit 4 (route processing unit 4c) communicates with the wireless communication terminal 46 and acquires a plurality of (for example, five) work paths P1 close to the current position of the tractor 1 (S101). In FIG. 7, the work path P1 acquired by this process is shown by a thick line. In addition, in order to properly switch between the manual driving mode and the autonomous driving mode, only the working route P1 (straight line route) is acquired instead of the non-working route P2 (turning route) (a candidate for a route capable of autonomous driving). To do).

Next, the control unit 4 extracts the work path P1 that satisfies all of the following conditions for the acquired work path P1 (S102). The condition (1) is that the distance between the work path P1 and the tractor 1 (distance L1 in FIG. 8) is within a predetermined range. In the example shown in FIG. 8, the position of the positioning antenna 6 of the tractor 1 is used as a reference, but another position (for example, the center position of the front end portion of the tractor 1 or the center position of the rear end portion of the work equipment 3) is used as a reference. May be good. The condition (2) is that the difference between the orientation of the work path P1 and the orientation of the tractor 1 (angle θ in FIG. 8) is within a predetermined range. Since both the work path P1 and the tractor 1 have orientations, the angle θ is calculated in consideration of their orientations. The condition (3) is that when the tractor 1 is in the working area, the distance to the non-working area (headland) (distance L2 shown in FIG. 8) is within a predetermined range. The condition (4) is that when the tractor 1 is in the non-working area, the distance to the working area (distance L3 shown in FIG. 8) is within a predetermined range. The threshold value (predetermined value) of each condition is arbitrary, but it is preferable that the threshold value of the condition (1) <the threshold value of the condition (4) <the threshold value of the condition (3). For example, the threshold value of the condition (1) is 10 cm, the threshold value of the condition (2) is 10 °, the threshold value of the condition (3) is 10 m, and the threshold value of the condition (4) is 10 m. In addition, each threshold value may be these values ± 50%. The fifth condition is to continuously satisfy the conditions (1) to (4) for a predetermined time.

The control unit 4 determines the conditions (1) to (5) for all the work paths P1 acquired in step S101. Since the conditions (3) and (4) are conditions that are not related to the work path P1, they do not have to be performed for each work path P1 (determined only once for the specific work path P1). do it). Next, the control unit 4 determines whether or not the work path P1 satisfying the above conditions has been extracted (S103). When the work path P1 satisfying the above conditions is not extracted, the control unit 4 stores that there is no P1 capable of autonomous traveling (S104). In this case, since the condition for shifting to the third mode is not satisfied, the mode does not shift to the first autonomous driving execution mode.

On the other hand, when the work path P1 satisfying the above conditions is extracted, the control unit 4 determines whether or not a plurality of work paths P1 have been extracted (S105). When a plurality of work paths P1 are not extracted (that is, when only one is extracted), the control unit 4 stores the extracted work paths P1 as routes capable of autonomous travel (S106). When a plurality of work paths P1 are extracted, the control unit 4 stores the work path P1 closest to the start position of the travel path P among the plurality of work paths P1 as a route capable of autonomous travel (S107). It should be noted that the selection may be made based on at least one of the distance L1 with the tractor 1 and the angle θ of the difference in orientation with the tractor 1 instead of the work path P1 closest to the start position.

Regarding the condition (f) of the third mode transition condition, whether or not the control unit 4 has instructed the touch panel 39 or the monitoring device 14 of the wireless communication terminal 46 to switch to autonomous driving based on the operation performed by the user. To judge.

In order to shift from the manual driving mode to the automatic driving mode, it is necessary to satisfy the first mode transition condition and the third mode transition condition, and the combination of these corresponds to the autonomous driving start condition.

Next, the fourth mode transition condition, which is a condition for shifting from the first autonomous driving execution mode to the second autonomous driving execution mode, will be described. As a specific condition item, (a) the forward / backward switching lever 25 is set to be located in the neutral position. That is, in the present embodiment, since the forward / backward switching lever 25 can shift to the autonomous traveling mode even if the forward / backward switching lever 25 is located in the forward position, the forward / backward switching lever 25 is changed to the neutral position after shifting to the autonomous traveling mode. Waiting for the second autonomous driving mode, which is the official autonomous driving mode. As a result, it is possible to switch to autonomous traveling without stopping the tractor 1, and it is possible to prevent the forward / backward advance switching lever 25 from being switched to manual traveling in the forward position. When shifting from the autonomous driving preparation mode to the first autonomous driving execution mode, if the forward / backward switching lever 25 is located in the neutral position, the second autonomous driving execution mode is immediately performed from the first autonomous driving execution mode. Move to. In the first autonomous traveling execution mode and the second autonomous traveling execution mode, the traveling of the tractor 1 is controlled regardless of the position of the forward / backward switching lever 25, and even if the fourth mode transition condition is satisfied, that is, The tractor 1 does not stop even when the forward / backward switching lever 25 is set to the neutral position, and autonomous traveling is continued along a predetermined route.

Next, a fifth mode transition condition, which is a condition for shifting from the first autonomous driving execution mode to the manual driving execution mode, will be described. As a specific condition item, (a) the forward / backward switching lever 25 is set to be located at the reverse position. At the time of shifting to the first autonomous traveling execution mode, since the forward / backward switching lever 25 is in the forward position or the neutral position, the condition (a) is not satisfied unless the user operates the forward / backward switching lever 25. Therefore, when the condition (a) is satisfied, the user's intention to return to the manual driving is clear, so the user shifts to the manual driving execution mode (ends the autonomous driving mode).

Next, the sixth mode transition condition, which is a condition for shifting from the first autonomous running execution mode to the manual running preparation mode, will be described. As shown in FIG. 3, a plurality of condition items are set in the sixth mode transition condition, but these are or conditions, and when at least one condition item is satisfied, the mode shifts to the manual driving preparation mode. To do. Specific condition items include (a) not satisfying the first mode transition condition, (b) any of the brake pedal 61, the clutch pedal 62, the parking brake 26, and the steering handle 12 being operated, and (c). ) The forward / backward switching lever 25 is in the forward position continuously for a predetermined time, (d) the distance to the route and the difference in direction from the route are equal to or more than the predetermined value, and (e) there is an instruction to start manual driving. Is set. The sixth mode transition condition is treated with priority over the fourth and fifth mode transition conditions. That is, even if the conditions for shifting to the fourth or fifth mode are satisfied, if the conditions for shifting to the sixth mode are satisfied, the mode shifts to the manual driving preparation mode.

The determination method of the conditions (a) to (c) is the same as the above, and thus the description thereof will be omitted. The condition (c) is a condition item for preventing the autonomous traveling mode from continuing in the state where the forward / backward switching lever 25 is in the forward position. The predetermined time of the condition (c) is, for example, 5 seconds, but may be any value of 3 seconds or more and 30 seconds or less. Further, in the fifth mode transition condition, when the forward / backward switching lever 25 is operated, the user's intention to return to the manual driving is clear, so the manual driving mode is shifted, but other operating tools ( The user's intention to return to manual driving is not clear just by operating the brake pedal 61, the clutch pedal 62, the parking brake 26, and the steering handle 12). Therefore, the mode is shifted to the manual driving preparation mode.

In the condition (d), the distance from the path is the distance between the work path P1 and the tractor 1. The difference in orientation from the path is the angle formed by the work path P1 and the tractor 1. When these values exceed a predetermined value, the condition (d) is satisfied.

In the condition (e), the control unit 4 determines whether or not the user has instructed the touch panel 39 or the monitoring device 14 of the wireless communication terminal 46 to switch to the manual traveling.

Next, a seventh mode transition condition, which is a condition for shifting from the first autonomous driving execution mode to the manual driving execution mode, will be described. As a specific condition item, (a) the forward / backward switching lever 25 is set to be positioned at the forward position or the reverse position. Since the forward / backward switching lever 25 is in the neutral position at the time of shifting to the second autonomous traveling execution mode, the condition (a) is not satisfied unless the user operates the forward / backward switching lever 25. Therefore, when the condition (a) is satisfied, the user's intention to return to the manual driving is clear, and the user shifts to the manual driving execution mode.

Next, the conditions for shifting from the second autonomous driving execution mode to the manual driving preparation mode will be described. This condition is the same as the condition for shifting from the first autonomous driving execution mode to the manual driving preparation mode. In the second autonomous travel execution mode, the manual travel execution mode is entered when the forward / reverse advance switching lever 25 is positioned in the forward position, so that the condition (c) of the sixth mode transition condition is not satisfied. Further, as in the first autonomous driving execution mode, the sixth mode transition condition is treated with priority over the seventh mode transition condition.

Next, the eighth mode transition condition, which is a condition for shifting from the manual running preparation mode to the manual running execution mode, will be described. As shown in FIG. 3, a plurality of condition items are set in the eighth mode transition condition, but these are and conditions, and when all of the plurality of condition items are satisfied, the manual driving execution mode is set. Transition. As specific condition items, it is set that (a) the forward / backward switching lever 25 is located in the neutral position, and (b) the vehicle speed is not more than a predetermined value. By providing the condition (a), it is possible to prevent the forward / backward switching lever 25 from being switched to manual traveling while the forward / backward switching lever 25 is located at the forward position. Further, the control unit 4 determines the condition (b) based on the detection result of the vehicle speed sensor 53.

As described above, after shifting to the manual running preparation mode, it is not possible to directly shift to the first autonomous running execution mode or the second autonomous running execution mode. Therefore, in the first autonomous driving execution mode or the second autonomous driving execution mode, when the sixth mode transition condition is satisfied, the autonomous driving mode ends, and then the manual driving mode shifts to the manual driving mode.

In the present embodiment, it is possible to switch from manual traveling to autonomous traveling with the forward / backward switching lever 25 positioned in the forward position, so that switching to autonomous traveling can be performed without stopping the tractor 1. Further, in order to prevent the forward / backward switching lever 25 from being switched to manual traveling while being positioned in the forward position, the condition (a) of the fourth mode transition condition, the condition (a) of the eighth mode transition condition, etc. Is provided. As a result, it is possible to prevent the tractor 1 from traveling against the intention of the user even when the vehicle is switched to manual travel.

As described above, the control unit 4 of the tractor 1 of the present embodiment includes a forward / backward movement control unit 4a and a traveling mode control unit 4b. The forward / backward movement control unit 4a controls the forward / backward movement of the tractor 1. The traveling mode control unit 4b manually moves the tractor 1 forward and backward in response to the operation of the operating tools (for example, the brake pedal 61, the accelerator pedal 63, the auxiliary shift lever 19, the main shift lever 27, etc.) included in the tractor 1. One travel mode is executed from a plurality of travel modes including at least the travel mode and the autonomous travel mode that controls the forward / backward movement of the tractor 1 regardless of the operation of the operating tool. The travel mode control unit 4b executes the autonomous travel mode by satisfying the autonomous travel start conditions (first mode transition condition and third mode transition condition). The forward / backward switching lever 25 included in the tractor 1 can be switched at least between the forward position, the neutral position, and the reverse position. When the forward / backward switching lever 25 is in the forward position, the autonomous traveling start condition can be satisfied.

As a result, even if the forward / backward switching lever 25 is located at the forward position, the autonomous traveling start condition is satisfied, so that the manual traveling can be shifted to the autonomous traveling without stopping the tractor 1. Therefore, it is possible to smoothly switch from manual traveling to autonomous traveling.

Further, in the control unit 4 of the tractor 1 of the present embodiment, the travel mode control unit 4b executes the autonomous travel mode when the autonomous travel mode is executed with the forward / backward switching lever 25 located at the forward position. After that, if the forward / backward switching lever 25 is not changed to the neutral position before the elapse of the predetermined time, the autonomous traveling mode is ended (the mode shifts to the manual traveling execution mode via the manual traveling preparation mode).

As a result, it is possible to prevent the autonomous traveling mode from continuing while the forward / backward switching lever 25 is in the forward position, so that the tractor 1 moves regardless of the intention of the operator when returning to manual traveling again. Can be prevented.

Further, in the control unit 4 of the tractor 1 of the present embodiment, when the forward / backward switching lever 25 is changed to the neutral position before the elapse of a predetermined time, the forward / backward switching lever 25 is moved from the neutral position to a position other than the neutral position. Executes manual driving mode when changed. If the forward / backward switching lever 25 is not changed to the neutral position before the lapse of a predetermined time, after the forward / backward switching lever 25 is changed to the neutral position (in the manual driving preparation mode, in this manual driving preparation mode). Execute the manual driving mode.

As a result, when the forward / backward switching lever 25 is changed from the neutral position to another position, it is possible to shift to the manual traveling because the intention to change to the manual traveling is clear. On the other hand, if the forward / backward switching lever 25 has not been changed to the neutral position within a predetermined time, if the manual travel is changed, the tractor 1 may move regardless of the operator's intention. After changing the switching lever 25 to the neutral position, the mode shifts to the manual traveling mode.

Further, in the control unit 4 of the tractor 1 of the present embodiment, the travel mode control unit 4b is at least one of the steering handle 12, the brake pedal 61, and the parking brake 26 provided on the tractor 1 after a predetermined time elapses during the predetermined time. When is operated, the manual traveling mode is executed after the forward / backward switching lever 25 is changed to the neutral position (shifts to the manual traveling preparation mode, and in this manual traveling preparation mode).

As a result, the intention to switch to manual driving is clear when operating the forward / backward switching lever 25, but the intention to switch to manual driving is not clear when operating the steering wheel 12, brake pedal 61, and parking brake 26. Therefore, the mode switching in consideration of the intention of the operator is realized by shifting to the manual traveling mode after the forward / backward switching lever 25 is changed to the neutral position.

Further, the control unit 4 of the tractor 1 of the present embodiment can acquire the position information of the tractor 1 from the position information acquisition unit 49 that acquires the position information of the tractor 1. The tractor 1 includes a route processing unit 4c that performs a process of generating or acquiring a traveling route including a plurality of working routes and a plurality of non-working routes. The autonomous travel start condition includes that a work route capable of autonomous travel of the tractor 1 is specified based on the current position information of the tractor 1 and the travel route.

As a result, the mode is shifted to the autonomous traveling mode only when there is a route capable of autonomous traveling, so that rational processing is performed.

Although the preferred embodiment of the present invention has been described above, the above configuration can be changed as follows, for example.

The condition items of various conditions described in the above embodiment are examples, and at least one condition item may be added, deleted, or changed. For example, in the present embodiment, since it is premised that the user can switch from manual driving to autonomous driving while the user is on the tractor 1, it is a condition for shifting to the first mode that the user is on the tractor 1. It may be included in the condition item. The fact that the user is on the tractor 1 can be detected by, for example, a load sensor provided on the seat 13.

Further, in the above embodiment, the sixth mode transition condition includes not satisfying the first mode transition condition, the transition condition from the manual driving execution mode to the autonomous driving preparation mode, and the first or second autonomous driving. The conditions for shifting from the driving execution mode to the manual driving preparation mode are some common conditions, but the two may be different conditions. That is, the transition condition from the manual driving execution mode to the autonomous driving preparation mode is a condition for permitting autonomous driving (autonomous driving permission condition), while the transition condition from the first or second autonomous driving execution mode to the manual driving preparation mode. May be a condition for prohibiting autonomous driving (condition for prohibiting autonomous driving). In that case, for example, when the tractor 1 is provided with a load sensor as described above, the autonomous travel permission condition includes the load sensor being ON, while the autonomous travel prohibition condition is that the load sensor is ON. It may not be included. This is because the load sensor may cause the user's body to float due to vibration of the tractor 1 or the like, and the load sensor may be temporarily turned off. However, if the load sensor is off for a predetermined time (for example, 5 seconds), it may be determined that the user has disembarked from the tractor 1 and the mode may be shifted to the manual driving preparation mode.

Further, in the above embodiment, when the forward / backward switching lever 25 is positioned in the forward position and the mode shifts to the first autonomous traveling execution mode, the forward / backward switching lever 25 is changed to the neutral position after a predetermined time has elapsed. When it is made to move, the mode shifts to the manual driving mode via the manual driving preparation mode. Instead of this, the autonomous traveling mode may be maintained when the forward / backward switching lever 25 is changed to the neutral position after the elapse of a predetermined time. Further, in the first autonomous driving execution mode or the second autonomous driving execution mode, when there is some abnormality (for example, detection of non-boarding of the user) and the abnormality is resolved early, the first autonomous driving execution mode Alternatively, it may be configured to return to the second autonomous driving execution mode.

Further, in the above embodiment, when the mode shifts from the first autonomous driving execution mode or the second autonomous driving execution mode to the manual driving preparation mode, it is decided to shift to the manual driving execution mode when the eighth mode transition condition is satisfied. However, under specific conditions, the manual driving preparation mode may shift to the second autonomous driving execution mode when the ninth mode transition condition is satisfied. Here, the specific condition is any one of the above conditions (c) (brake pedal 61, clutch pedal 62, parking brake 26, steering handle 12) among the sixth mode transition conditions in the second autonomous driving execution mode. The operation was made), and the vehicle shifted to the manual driving preparation mode. Further, the ninth mode transition condition is that the forward / backward switching lever 25 is in the neutral position and the restart of autonomous traveling is instructed based on the operation of the touch panel 39 of the wireless communication terminal 46.

In the above embodiment, the lever-shaped forward / backward switching lever 25 has been described as an example of the forward / backward switching operation tool, but a forward / backward switching operation tool having a different shape (slide switch shape, etc.) can also be used. Further, the forward / backward switching lever 25 can be switched to the forward position, the reverse position, and the neutral position, but it may be possible to switch to another position. Further, although the forward / backward switching lever 25 is an operating tool for instructing forward / backward switching, it may be an operating tool capable of instructing both shifting and forward / backward switching. In this case, there are a plurality of forward positions, but it may be possible to switch to the autonomous traveling mode only when the vehicle is located in the forward position on the low speed side, or when it is located in all the forward positions. It may be possible to switch to the autonomous driving mode in.

In the above embodiment, the travel route acquisition unit 35 of the wireless communication terminal 46 generates a travel route, and the route processing unit 4c of the control unit 4 acquires a part or all of the routes. 4c may generate a traveling route. Further, the monitoring device 14 included in the tractor 1 may generate the traveling route instead of the wireless communication terminal 46.

1 Tractor (working vehicle)
4 Control unit (work vehicle control device)
4a Forward / backward control unit 4b Travel mode control unit 4c Route processing unit 25 Forward / backward switching lever (forward / backward switching operation tool)

Claims (3)

It is a work vehicle control device that can autonomously drive a work vehicle along a travel route.
A forward / backward control unit that controls the forward / backward movement of the work vehicle,
At least a manual traveling mode in which the work vehicle moves forward and backward in response to the operation of the operating tool provided in the working vehicle, and an autonomous traveling mode in which the working vehicle moves forward and backward without depending on the operation of the operating vehicle. A driving mode control unit that executes one driving mode from a plurality of driving modes including the vehicle is provided.
The traveling mode control unit executes the autonomous traveling mode by satisfying the autonomous traveling start condition.
The forward / backward switching operation tool included in the work vehicle can be switched at least between the forward position, the neutral position, and the reverse position.
When the forward / backward switching operation tool is in the forward position, the autonomous traveling start condition can be satisfied.
When the traveling mode control unit executes the autonomous traveling mode while the forward / backward switching operating tool is located at the forward position, the traveling mode control unit advances the forward / backward movement after the execution of the autonomous driving mode and before a predetermined time elapses. A work vehicle control device characterized in that when the switching operation tool is not changed to the neutral position, a warning that the autonomous traveling mode is terminated is issued. The work vehicle control device according to claim 1.
The traveling mode control unit is a work vehicle control device, characterized in that, when the forward / backward switching operating tool is changed to the neutral position before the elapse of the predetermined period, the traveling mode control unit continues the autonomous traveling mode. The work vehicle control device according to claim 1.
The traveling mode control unit is a work vehicle control device, characterized in that the autonomous traveling mode is terminated when the forward / backward switching operation tool is not changed to the neutral position before the elapse of the predetermined period.