JP7019310B2 - Autonomous driving system - Google Patents

Description

The present invention relates to an autonomous travel system.

Patent Document 1 describes a mobile receiver that calculates the position information of a work vehicle using a satellite positioning system, and an autonomous travel route that creates a work vehicle in advance based on the position information calculated by the mobile receiver. A work vehicle equipped with a control device for autonomously traveling along the line is disclosed.
When calculating the position information of a work vehicle using a satellite positioning system as in the mobile receiver of Patent Document 1, the accuracy of the position information is lowered due to the external environment such as weather and obstacles. There is a risk. In the work vehicle described in Patent Document 1, autonomous traveling is stopped when the accuracy of the position information calculated by the mobile receiver is lowered.

International Publication No. 2015/11266

In the work vehicle described in Patent Document 1, the accuracy of the position information of the work vehicle is lowered due to the external environment, so that the autonomous traveling is frequently stopped, and the work by the work vehicle may not be smoothly performed.
An object of the present invention is to provide an autonomous traveling system capable of autonomous traveling and continuing work even if the accuracy of the position information of a working vehicle is lowered due to an external environment.

One embodiment of the present invention is an autonomous traveling system including a work vehicle that autonomously travels along a predetermined travel route and a communication terminal capable of transmitting a predetermined control signal to the work vehicle. The work vehicle calculates first position information representing the position of the work vehicle by using a control unit capable of executing autonomous travel control for autonomously traveling the work vehicle along the travel route and a satellite positioning system. The communication terminal includes a first calculation unit, the communication terminal includes a second calculation unit that calculates second position information representing the position of the communication terminal using a satellite positioning system, and the control unit includes the first position. If a predetermined condition is satisfied while executing the autonomous driving control based on the information, it is possible to execute the autonomous driving control based on the second position information instead of the first position information. It provides an autonomous driving system characterized by this.

In this configuration, it is possible to perform autonomous traveling control based on the position information (first position information) of the work vehicle calculated on the work vehicle side, and the position information of the communication terminal calculated on the communication terminal side (first position information). It is possible to perform autonomous driving control based on the second position information).
In one embodiment of the present invention, the work vehicle includes a first evaluation unit that evaluates the accuracy of the first position information calculated by the first calculation unit, and the predetermined condition includes at least the first condition. The first condition is that the accuracy of the first position information is evaluated to be low by the first evaluation unit.

In this configuration, the fact that the accuracy of the first position information is evaluated as low accuracy may be included in the condition for executing the autonomous driving control based on the second position information instead of the first position information. It will be possible.
In one embodiment of the present invention, the communication terminal includes a second evaluation unit that evaluates the accuracy of the second position information calculated by the second calculation unit, and the predetermined condition is different from the first condition. Further including the second condition, the second condition is that the accuracy of the second position information is evaluated to be highly accurate by the second evaluation unit.

In this configuration, the accuracy of the first position information is evaluated as low accuracy and the accuracy of the second position information is evaluated as high accuracy, instead of the first position information, the second position information is used. Based on this, it can be included in the conditions for executing autonomous driving control.
In one embodiment of the present invention, the work vehicle includes a support portion that detachably supports the communication terminal and a detection unit that detects attachment of the communication terminal to the support portion, and the plurality of conditions are the same. The first condition and a third condition different from the second condition are further included, and the third condition is that the detection unit detects the attachment of the communication terminal to the support unit.

In this configuration, the accuracy of the first position information is evaluated as low accuracy, the accuracy of the second position information is evaluated as high accuracy, and the detection unit detects the attachment of the communication terminal to the support unit. Instead of the first position information, it can be included in the condition for executing the autonomous traveling control based on the second position information.
In one embodiment of the present invention, when the control unit executes autonomous driving control based on the second position information and the second condition or the third condition is no longer satisfied, the control unit autonomously travels. When the control is stopped and the first condition is no longer satisfied, it is possible to execute the autonomous traveling control based on the first position information.

When the communication terminal is not attached to the support portion, even if the accuracy of the second position information is high, the position of the work vehicle cannot be accurately specified based on the second position information. .. With this configuration, in such a case, it is possible to prevent autonomous travel control from being performed based on the second position information. Further, in this configuration, when the accuracy of the second position information is low, it is possible to prevent autonomous traveling control from being performed based on the second position information.

Since the communication terminal is detachably mounted on the support portion, the second position information may include an error due to a mounting error (mounting error) of the communication terminal. Therefore, when the autonomous travel control is performed based on the second position information, the route followability may be lower than when the autonomous travel control is performed based on the first position information. In this configuration, when the autonomous driving control is performed based on the second position information and the accuracy of the first position information becomes high, the autonomous driving control is executed based on the first position information. Therefore, it is possible to suppress the deterioration of the route followability as much as possible during autonomous driving.

In one embodiment of the present invention, when the control unit executes autonomous driving control based on the first position information, the first condition is satisfied, while the second condition or the third condition is satisfied. If is not established, the autonomous driving control is stopped.
In this configuration, when the accuracy of the first position information becomes low during the execution of the autonomous driving control based on the first position information, the accuracy of the second position information is low or the communication terminal supports it. It is possible to prevent autonomous driving control from being performed when the vehicle is not mounted on the unit.

In one embodiment of the present invention, the first calculation unit includes positioning information of the work vehicle calculated based on satellite signals acquired from a plurality of positioning satellites, and positioning correction information acquired from a predetermined first reference station. The first position information is calculated based on the above, and the second calculation unit includes the positioning information of the communication terminal calculated based on satellite signals acquired from a plurality of positioning satellites, and the positioning information of the communication terminal. It is configured to calculate the second position information based on the positioning correction information acquired from the same or different predetermined second reference station as the first reference station, and the specific third reference station corresponds to the traveling route. The control unit can execute autonomous traveling control when the first reference station and the third reference station are the same.

The reference station calculates the positioning information of the position of the reference station using the positioning system, and determines the difference between the self-position recognized in advance (hereinafter referred to as "recognized self-position") and the calculated positioning information. It is transmitted as positioning correction information. Depending on the reference station, there may be an error in the recognition self-position.
When the first reference station and the third reference station are different, and there is an error in the recognition self-position of at least one reference station, the amount of deviation of the first position information calculated at the time of traveling route generation with respect to the actual position , The amount of deviation of the first position information calculated during autonomous driving with respect to the actual position is different. The actual position means the actual position of the work vehicle. The amount of deviation mainly refers to the amount of deviation in the longitude direction and the amount of deviation in the latitude direction. Therefore, the work vehicle may deviate from the work place (for example, the field) during autonomous traveling.

On the other hand, when the first reference station and the third reference station are the same, the actual position of the first position information calculated when the traveling route is generated even if there is an error in the recognition self-position of the reference station. The amount of deviation from the actual position and the amount of deviation of the first position information calculated during autonomous driving with respect to the actual position are substantially the same. Therefore, in this configuration, it is possible to prevent the work vehicle from deviating from the work place during autonomous traveling.

FIG. 1 is a side view showing a tractor used in an autonomous traveling system according to an embodiment of the present invention, and showing a state in which a working machine mounted on the tractor is in a non-working state. FIG. 2 is a plan view of the tractor. FIG. 3 is a plan view showing various operating devices and communication terminals arranged around the seat of the tractor. FIG. 4 is a side view of the tractor showing how the working machine is in a working state. FIG. 5 is a block diagram showing the electrical configuration of the tractor. FIG. 6 is a block diagram showing an electrical configuration of a communication terminal. FIG. 7 is a schematic diagram showing an example of an autonomous traveling route. FIG. 8A is a part of a flowchart for explaining an example of the operation of the first control unit. FIG. 8B is a part of a flowchart for explaining an example of the operation of the first control unit.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In the present embodiment, the tractor will be described as an example of the work vehicle, but the work vehicle may be a rice transplanter, a combine, a civil engineering / construction work device, a snowplow, a passenger type work machine, a walking type work machine, or the like. Autonomous driving (automatic driving) means that the tractor travels along a predetermined autonomous driving route by automatically controlling the tractor. Autonomous work means that the work machine performs work at a work position preset in the autonomous travel path by automatically controlling the work machine. On the other hand, the manual running / manual work means that the running and the work are performed by controlling the tractor and the working machine based on the manual operation.

FIG. 1 is a side view showing a tractor used in an autonomous traveling system according to an embodiment of the present invention, and showing a state in which a working machine mounted on the tractor is in a non-working state. FIG. 2 is a plan view of the tractor. FIG. 3 is a plan view showing various operating devices and communication terminals arranged around the seat of the tractor. FIG. 4 is a side view of the tractor showing how the working machine is in a working state.

The tractor 1 is capable of manual traveling and autonomous traveling. In the present embodiment, the tractor 1 is configured to be able to autonomously travel according to a pre-generated autonomous traveling route while the user is on board.
The tractor 1 includes a traveling machine body 2 as a vehicle body portion that autonomously travels in the field. Various working machines such as a cultivator, a plow, a fertilizer, a grass mower, and a sowing machine can be selected and mounted on the traveling machine 2, but in the present embodiment, the rotary cultivator 3 can be mounted. The machine is installed.

As shown in FIG. 1, the traveling machine body 2 of the tractor 1 is supported by a pair of left and right front wheels 7 and a rear portion supported by a pair of left and right rear wheels 8.
A bonnet 9 is arranged at the front portion of the traveling machine body 2. In the present embodiment, the engine 10, the fuel tank (not shown), and the like, 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 a drive source, an electric motor may be adopted instead of or in addition to the engine 10.

Behind the bonnet 9, a cabin 11 for the user to board is arranged. Inside the cabin 11, a steering wheel 12 for the user to steer, a seat 13 for the user to sit on, a communication terminal 100, various operation devices for performing various operations, and the like are arranged. However, the tractor 1 is not limited to the one with the cabin 11, and may be configured not to include the cabin 11.

With reference to FIG. 3, the operating device includes a monitor device 70, an accelerator lever 15, a reverser lever 26, a main shift lever 27, a speed rotation speed selection changeover switch 29, a speed rotation speed setting change dial 14, and a dial setting changeover switch. 16. The auxiliary shift lever 19, the PTO switch 17, the PTO shift lever 18, the work equipment elevating switch 28, the work equipment down speed adjustment knob 75, and the like can be mentioned as examples. These operating devices are arranged near the seat 13 or near the steering wheel 12.

Various information about the tractor 1 is displayed on the monitor device 70. Further, the monitor device 70 is provided with input members such as buttons and dials, and the user can operate these input members to input various instructions to the tractor 1.
The accelerator lever 15 is an operating tool for setting the output rotation speed of the engine 10. The reverser lever 26 is an operating tool for switching forward, backward, and stop of the tractor 1. The main shift lever 27 is an operating tool for steplessly changing the speed at which the tractor 1 travels in the direction indicated by the reverser lever 26.

The speed rotation speed selection selector switch 29 is an operating tool for alternately switching the combination of the vehicle speed of the tractor 1 and the rotation speed of the engine 10 between two preset combinations. The speed rotation speed setting change dial 14 is an operating tool for adjusting the vehicle speed of the tractor 1 and the setting values of the rotation speed of the engine 10 for each of the above two types of combinations. The dial setting changeover switch 16 is an operation tool for switching whether the speed rotation speed setting change dial 14 changes the vehicle speed setting value of the tractor 1 or the engine 10 rotation speed setting value.

However, the speed rotation speed setting change dial 14 and the dial setting changeover switch 16 are also used to instruct the setting of the vehicle speed and the number of engines in the working state and the non-working state in the case of autonomous traveling.
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 PTO switch 17 is an operating tool for switching between transmission / disconnection of power to a PTO shaft (power transmission shaft (not shown)) protruding from the rear end of the transmission 22. The PTO shift lever 18 is an operating tool for shifting the rotation speed of the PTO shaft.
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 work equipment descending speed adjusting knob 75 is an operating tool for adjusting the speed at which the work equipment 3 descends.

A satellite signal receiving antenna 46, a reference station signal receiving antenna 47, and a wireless communication antenna 48 are provided on the roof 5 of the cabin 11. The satellite signal receiving antenna 46 and the reference station signal receiving antenna 47 are antennas used for calculating the position information of the traveling machine body 2. The wireless communication antenna 48 is an antenna used by the control device 4 (see FIG. 5) of the tractor 1, which will be described later, to perform wireless communication with the communication terminal 100.

The satellite signal receiving antenna 46 is arranged above the steering wheel 12. The reference station signal receiving antenna 47 is arranged behind the satellite signal receiving antenna 46. The wireless communication antenna 48 is arranged behind the reference station signal receiving antenna 47. The arrangement positions of the antennas 46 to 48 are not limited to this, and for example, the antennas 46 to 48 may be arranged at the front portion of the roof 5 at predetermined intervals in the width direction of the traveling machine body 2.

The communication terminal 100 generates an autonomous traveling route, remotely controls the tractor 1, and the like. In the present embodiment, the communication terminal 100 has a function of communicating with the tractor 1, a function of generating an autonomous traveling route, a function of calculating the position information of the communication terminal 100 by a satellite positioning system, and the like. In the present embodiment, the communication terminal 100 is composed of a tablet-type personal computer (tablet-type PC).

A communication terminal support portion (hereinafter referred to as "support portion 6") is fixed to the lower surface of the roof 5 of the cabin 11. The communication terminal 100 is detachably attached to the support portion 6. When the communication terminal 100 is mounted on the support portion 6, the communication terminal 100 (more strictly, the satellite signal receiving antenna 103 of the communication terminal 100 described later) is located substantially directly below the satellite signal receiving antenna 46. Placed in.

The support portion 6 is provided with a detachable sensor 30 (see FIG. 5) for detecting whether or not the communication terminal 100 is attached to the support portion 6. The detachable sensor 30 may be, for example, a limit switch. When the communication terminal 100 is attached to the support portion 6, the communication terminal 100 may be configured to be electrically connected to a charger (not shown). In such a case, the detachable sensor 30 detects whether or not the communication terminal 100 is attached to the support portion 6 by detecting whether or not the communication terminal 100 is electrically connected to the charger. It may be a thing.

As shown in FIG. 1, a chassis 20 of the tractor 1 is provided at 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 portion in the front portion of the tractor 1 and supports the engine 10 directly or via an anti-vibration member 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 transmits the power input from the transmission 22 to the front wheels 7. The rear axle 24 transmits the power input from the transmission 22 to the rear wheels 8.

As shown in FIG. 1, a working machine 3 is mounted on the rear portion of the traveling machine body 2 of the tractor 1. As described above, by transmitting a part of the driving force of the engine 10 to the working machine 3 via the PTO shaft, the working machine 3 can be driven and the tilling work can be performed. At the lower part of the working machine 3, a plurality of tilling claws (working bodies) 25 that are rotationally driven around a horizontally arranged shaft are provided.
The rotation axis 25c of the tiller claw 25 is shown in FIGS. 1, 2 and 4. By lowering the working machine 3 to the working height shown in FIG. 4, the rotating tilling claw 25 comes into contact with the soil, and the field can be cultivated at a predetermined depth corresponding to the working height. Further, the tilling work can be stopped by stopping the rotation of the tilling claw 25 or raising the working machine 3 to the non-working height shown in FIG. The user can raise and lower the work machine 3 by operating the work machine up / down switch 28. Further, the working machine 3 can be raised and lowered by automatic control by the control device 4 (see FIG. 5) described later.

FIG. 5 is a block diagram showing an electrical configuration of the tractor 1.
The tractor 1 includes a control device 4 for controlling the operation of the traveling machine body 2 (movements such as forward movement, reverse movement, stop, turning, etc.) and the movement of the work machine 3 (operations such as raising / lowering, driving, stopping, etc.).
A plurality of controllers for controlling each part of the tractor 1 are electrically connected to the control device 4. The plurality of controllers include an engine controller 31, a vehicle speed controller 32, a steering controller 33, an elevating controller 34, and a PTO controller 35.

The engine controller 31 controls the rotation speed of the engine 10 and the like. The engine controller 31 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10. The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close, so that the high-pressure fuel supplied from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector to each cylinder of the engine 10. The injection pressure, injection timing, and injection period (injection amount) of the fuel supplied from each injector are controlled with high accuracy. By controlling the common rail device 41, the engine controller 31 can, for example, stop the supply of fuel to the engine 10 and stop the driving of the engine 10.

The vehicle speed controller 32 controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42, which is a movable diagonal plate type hydraulic continuously variable transmission. The vehicle speed controller 32 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 by an actuator (not shown).

The steering controller 33 controls the steering angle of the front wheel 7 of the tractor 1. Specifically, a steering actuator 43 is provided in the middle of the rotation shaft (steering shaft) of the steering handle 12. At the time of autonomous traveling, the control device 4 (first control unit 54 described later) calculates a target steering angle for traveling the tractor 1 along a predetermined autonomous traveling path and sets it in the steering controller 33. .. The steering controller 33 controls the steering actuator 43 so that the rotation angle of the steering handle 12 becomes the target steering angle. As a result, the steering angle of the front wheel 7 of the tractor 1 is controlled.

The steering actuator may change the steering angle of the front wheel 7 of the tractor 1 without rotating the steering handle 12. In that case, the control device 4 (first control unit 54, which will be described later) calculates a target steering angle for traveling the tractor 1 along a predetermined autonomous travel path and sets it in the steering controller 33. .. The steering controller 33 controls the steering actuator so that the steering angle of the front wheels 7 becomes the target steering angle. In this case, the steering handle 12 is not rotated even if the steering wheel is turned.

The elevating controller 34 controls the elevating and lowering of the working machine 3. Specifically, the tractor 1 includes an elevating actuator 44 made of a known hydraulic lift cylinder in the vicinity of a three-point link mechanism that connects the working machine 3 to the traveling machine body 2. The elevating controller 34 raises and lowers the work machine 3 by driving and controlling the lift cylinder based on the elevating control signal given from the control device 4. The lift cylinder is a single-acting type, and it is configured so that the working machine 3 is raised by supplying hydraulic oil to the lift cylinder, and the working machine 3 is lowered by its own weight by discharging the hydraulic oil from the cylinder. There is. Although not shown, a known descending speed adjusting valve is arranged in the discharge path of hydraulic oil from the lift cylinder, and the user operates the opening degree of the descending speed adjusting valve by the working machine descending speed adjusting knob 75 of FIG. By doing so, the speed when the working machine 3 descends can be adjusted.

The elevating controller 34 makes it possible to set the height at which the work machine 3 is supported by the tractor 1 to a desired height such as a non-work height where work is not performed and a work height where work is performed. Since the working machine 3 mounted on the traveling machine body 2 in the present embodiment is configured as a rotary cultivator, the work by the working machine 3 means the cultivating work.
The PTO controller 35 controls the rotation of the PTO axis. Specifically, the tractor 1 includes a PTO clutch 45 for switching the transmission / disconnection of power to the PTO shaft (power transmission shaft). With this configuration, the PTO controller 35 can switch the PTO clutch 45 based on the control signal input from the control device 4 to rotationally drive or stop the work machine 3 via the PTO axis. ..

The attachment / detachment sensor 30 is electrically connected to the control device 4. A satellite signal receiving antenna 46 and a reference station signal receiving antenna 47 are electrically connected to the control device 4. Further, the wireless communication antenna 48 is electrically connected to the control device 4 via the wireless communication unit 49. In the present embodiment, the wireless communication unit 49 is composed of a wireless LAN router (Wi-Fi router).

The control device 4 has a function of controlling the tractor 1 and the work machine 3 based on various operations of the user boarded in the cabin 11, and the tractor 1 is automatically driven along a pre-created autonomous travel path. It is equipped with an autonomous traveling function that automatically controls the work machine 3. In the following, the autonomous driving function will be described in detail.
The control device 4 includes a microcomputer. The microcomputer includes a CPU and a storage unit (ROM, RAM, non-volatile memory) 51. The storage unit 51 stores programs and various data. In the present embodiment, the storage unit 51 stores one or more autonomous travel path data generated by the communication terminal 100. The microcomputer functions as a plurality of functional processing units by executing a predetermined program stored in the storage unit 51. The plurality of functional processing units include a first calculation unit 52, a first evaluation unit 53, and a first control unit (autonomous travel control unit) 54.

The first calculation unit 52 calculates the position information of the traveling machine 2 based on the satellite positioning system. In this embodiment, the satellite positioning system is RTK (Real Time Kinematic) -GNSS (Global Navigation Satellite System). In RTK-GNSS (real-time kinematic GNSS), a reference station installed at a predetermined position is used. The reference station has the positioning information of the reference station calculated based on the GNSS satellite signals received from a plurality of GNSS satellites (positioning satellites) at predetermined time intervals, and its own position (recognized self-position) recognized in advance. The difference is calculated and the difference information is transmitted as a positioning correction signal.

The satellite signal receiving antenna 46 receives a satellite signal from the GNSS satellite. The reference station signal receiving antenna 47 receives the positioning correction information from the reference station. The first calculation unit 52 acquires satellite signals from a plurality of GNSS satellites via the satellite signal receiving antenna 46. Further, the first calculation unit 52 acquires the positioning correction information from the predetermined first reference station via the reference station signal reception antenna 47. The first calculation unit 52 calculates the positioning information of the traveling machine 2 based on the satellite signals acquired from a plurality of GNSS satellites, and the obtained positioning information of the traveling machine 2 is the positioning correction acquired from the first reference station. By correcting using the information, the first position information representing the position of the traveling machine body 2 is calculated.

Strictly speaking, the first position information is information representing the position of the satellite signal receiving antenna 46 (hereinafter, referred to as “airframe reference position”) in the traveling aircraft 2. The first position information includes, for example, longitude information and latitude information of the aircraft reference position. In the present embodiment, for convenience of explanation, the first position information is composed of the longitude information and the latitude information of the aircraft reference position.
The first evaluation unit 53 evaluates whether the accuracy of the first position information calculated by the first calculation unit 52 is high or low. For example, when the accuracy of the positioning information of the traveling machine 2 calculated by the first calculation unit 52 is equal to or higher than a predetermined accuracy, the first evaluation unit 53 is the first position information calculated by the first calculation unit 52. Evaluate with high accuracy. On the other hand, when the accuracy of the positioning information of the traveling machine 2 calculated by the first calculation unit 52 is lower than the predetermined accuracy, the first evaluation unit 53 is the first position information calculated by the first calculation unit 52. Evaluate as low accuracy. More specifically, in the GNSS-RTK method, it is evaluated that the accuracy is high because the FIX solution is obtained as the first position information, and until the FIX solution is obtained (for example, when the guess solution is obtained). It is evaluated as having low accuracy.

By controlling each of the controllers 31 to 35, the first control unit 54 autonomously causes the tractor 1 to travel along the autonomous traveling path generated in advance, or stops the autonomous traveling. Further, the first control unit 54 communicates with the second control unit 124 (see FIG. 6) of the communication terminal 100, which will be described later.
In the present embodiment, when the power of the control device 4 is turned on, the first control unit 54 is used for calculating the first position information based on the signal received by the reference station signal receiving antenna 47. The first reference station is automatically selected. The first reference station used for calculating the first position information means the reference station of the transmission source of the positioning correction information used for calculating the first position information. Normally, the reference station located closest to the tractor 1 is set as the first reference station. The information for identifying the first reference station selected in this way is stored in the storage unit 51. It should be noted that the first reference station used for calculating the first position information can be changed based on the operation of the communication terminal 100 by the user.

FIG. 6 is a block diagram showing an electrical configuration of the communication terminal 100.
The communication terminal 100 includes a control device 101. An operation display device 102, a satellite signal receiving antenna 103, a reference station signal receiving antenna 104, an operation key (not shown), and the like are electrically connected to the control device 101. Further, the wireless communication antenna 105 is connected to the control device 101 via the wireless communication unit 106. In the present embodiment, the wireless communication unit 106 is composed of a wireless LAN adapter (Wi-Fi adapter).

The operation display device 102 displays various data and accepts operations by the user. In the present embodiment, the operation display device 102 is configured by a touch panel type display.
The satellite signal receiving antenna 103 and the reference station signal receiving antenna 104 are antennas used for calculating the position information of the communication terminal 100. The wireless communication unit 106 and the wireless communication antenna 105 are antennas used by the communication terminal 100 to perform wireless communication with the control device 4 of the tractor 1.

The control device 101 includes a microcomputer. The microcomputer includes a CPU and a storage unit (ROM, RAM, non-volatile memory) 121. The storage unit 121 stores programs and various data. In the present embodiment, the storage unit 121 stores one or more autonomous travel path data generated by the communication terminal 100. The microcomputer functions as a plurality of functional processing units by executing a predetermined program stored in the storage unit 121. The plurality of functional processing units include a second calculation unit 122, a second evaluation unit 123, and a second control unit (travel path generation unit) 124.

The second calculation unit 122 calculates the position information of the communication terminal 100 based on the satellite positioning system. In this embodiment, the satellite positioning system is RTK-GNSS (real-time kinematic GNSS). The second calculation unit 122 acquires satellite signals from a plurality of GNSS satellites via the satellite signal receiving antenna 103. Further, the second calculation unit 122 acquires the positioning correction information from the predetermined second reference station via the reference station signal reception antenna 104.

The second calculation unit 122 calculates the positioning information of the communication terminal 100 based on the satellite signals acquired from a plurality of GNSS satellites, and the obtained positioning information of the communication terminal 100 is the positioning correction acquired from the second reference station. By correcting using the information, the second position information representing the position of the communication terminal 100 is calculated. The second position information includes the longitude information and the latitude information of the communication terminal 100. For convenience of explanation, in the present embodiment, the second position information is composed of longitude information and latitude information.

In the present embodiment, since the communication terminal 100 is arranged at a position substantially directly below the satellite signal receiving antenna 46 of the tractor 1, the longitude information and the latitude information in the second position information are used as the longitude information and the latitude of the aircraft reference position. It can be regarded as information.
The second evaluation unit 123 evaluates whether the accuracy of the second position information calculated by the second calculation unit 122 is high or low. For example, when the accuracy of the positioning information of the communication terminal 100 calculated by the second calculation unit 122 is equal to or higher than the predetermined accuracy, the second evaluation unit 123 is the second position information calculated by the second calculation unit 122. Evaluate with high accuracy. On the other hand, when the accuracy of the positioning information of the communication terminal 100 calculated by the second calculation unit 122 is lower than the predetermined accuracy, the second evaluation unit 123 is the second position information calculated by the second calculation unit 122. Evaluate as low accuracy.

The second control unit 124 generates an autonomous travel route, accepts various settings for autonomous travel, communicates with the first control unit 54 on the tractor 1 side, and the like.
In the present embodiment, when the power of the communication terminal 100 is turned on, the second control unit 124 is used for calculating the second position information based on the signal received by the reference station signal receiving antenna 104. The second reference station is automatically selected. The second reference station used for calculating the second position information means the reference station of the transmission source of the positioning correction information used for calculating the second position information. Normally, the reference station located closest to the communication terminal 100 is set as the second reference station. The information for identifying the second reference station selected in this way is stored in the storage unit 121. The second reference station used for calculating the second position information can be changed based on the operation of the communication terminal 100 by the user.

An example of a method of generating an autonomous traveling route will be described. To generate an autonomous travel route, the tractor 1 is driven along the perimeter of the field in which the autonomous travel route should be generated. At this time, the second control unit 124 of the communication terminal 100 acquires the first position information from the first control unit 54 of the tractor 1. As a result, the communication terminal 100 can obtain the position data of the contour of the field. The communication terminal 100 identifies the size and shape of the field from the position data of the contour of the field, and generates autonomous travel route data inside the field. Since such a method of generating autonomous travel route data is known, detailed description thereof will be omitted.

When the autonomous travel route data is generated in this way, the second control unit 124 stores the generated autonomous travel route data in the storage unit 121. At this time, when the autonomous travel route is generated, the first reference station used for calculating the first position information is stored in the storage unit 121 in association with the autonomous travel route data. The autonomous travel route data generated by the second control unit 124 is sent to the first control unit 54 of the tractor 1 and stored in the storage unit 51 automatically or by the operation of the communication terminal 100 by the user. At this time, the first reference station used for calculating the first position information at the time of generating the autonomous travel route may be stored in association with the autonomous travel route data.

FIG. 7 is a schematic diagram showing an example of an autonomous traveling route.
The autonomous travel path P is generated so as to connect the work start position S and the work end position E in the field 60. The autonomous traveling path P is composed of a plurality of linear work paths P1 and a connection path P2 that alternately connects the ends of two work paths P1 adjacent to each other. The plurality of work paths P1 are set in the work area 61 in the field 60, and the plurality of connection paths P2 are set in the non-work area 62 in the field 60. In the present embodiment, the work area means an area where autonomous work is performed, and the non-work area means an area where autonomous work is not performed. Therefore, the non-working area may be an area where manual work is performed. Hereinafter, unless otherwise specified, "running" means autonomous running, and "work" means autonomous work.

The work path P1 is a path on which work is performed by the work machine 3. The connection path P2 is a turning circuit including an arc-shaped portion where a turning / turning operation is performed. In the autonomous traveling path P created in this way, the direction of the tractor 1 is changed by 180 ° in each connecting path P2, so that the traveling direction of the tractor 1 is a working path P1 and an adjacent working path P1. In between, they are in opposite directions.

The first control unit 54 of the tractor 1 autonomously travels and controls based on the first position information calculated by the first calculation unit 52 of the tractor 1 or the second position information calculated by the second calculation unit 122 of the communication terminal 100. To make the tractor 1 autonomously travel along a predetermined autonomous travel path.
In the following, a control mode in which autonomous driving control is performed based on the first position information calculated by the first calculation unit 52 is referred to as a first autonomous driving control mode, and a second position information calculated by the second calculation unit 122. A control mode in which autonomous driving control is performed based on the above may be referred to as a second autonomous driving control mode. The first control unit 54 switches the autonomous driving control mode or stops the autonomous driving control based on the evaluation result of the first evaluation unit 53, the evaluation result of the second evaluation unit 123, and the output signal of the attachment / detachment sensor 30. do. The details of the operation of the first control unit 54 regarding the switching of the autonomous driving control mode and the stop of the autonomous driving control will be described later.

When the autonomous traveling control is performed, the first control unit 54 performs a work machine state switching control for switching the state of the work machine 3 between a work state and a non-work state regardless of the control mode. conduct. The working state means a state in which the working machine 3 is lowered to the working height (the height of the working machine 3 shown in FIG. 4) and the tilling claw 25 of the working machine 3 is rotationally driven. Further, the non-working state means a state other than the above-mentioned working state, for example, a state in which the working machine 3 is raised to the non-working height and the tilling claw 25 is not rotationally driven. Specifically, the first control unit 54 sends a signal to the PTO clutch 45 to switch and control the transmission / disconnection of power to the PTO shaft, and also sends a signal to the elevating actuator 44 to elevate and control the work machine 3. do.

Further, when the autonomous traveling control is performed, the first control unit 54 sets the vehicle speed of the tractor 1 in the working state (hereinafter referred to as the first speed) or in the non-working state regardless of the control mode. Vehicle speed switching control for switching between the speed (hereinafter referred to as the second speed) is performed. The first speed and the second speed can be set by the user. In the tilling operation, the second speed is usually set to a speed slower than the first speed.

Specific examples of the work equipment state switching control and the vehicle speed switching control will be described. The first control unit 54 switches the state of the working machine 3 from the working state to the non-working state, for example, when the position of the tractor 1 reaches the connecting path P2 from the working path P1 or at a predetermined timing after that. Switching control and switching control for switching the vehicle speed from the first speed to the second speed are started. On the other hand, the first control unit 54 has, for example, switching control for switching the state of the working machine 3 from the non-working state to the working state at a predetermined timing before the position of the tractor 1 reaches the connecting path P2 to the working path P1. Switching control for switching the vehicle speed from the second speed to the first speed is started.

When the user wants to perform autonomous driving, he / she operates the communication terminal 100 to display a traveling route selection screen. Of the autonomous travel route data stored in the storage unit 121, only the autonomous travel route data to which the same reference station as the currently selected first reference station is associated can be selected on the travel route selection screen. It is displayed in the state. The user selects the autonomous travel route data in which the tractor 1 should be autonomously traveled from the autonomous travel route data displayed in the selectable state.

When the autonomous travel route data is selected on the travel route selection screen, the second control unit 124 transmits the route identification information for specifying the selected autonomous travel route data to the first control unit 54 of the tractor 1. do. Based on the route identification information transmitted from the second control unit 124, the first control unit 54 selects the autonomous travel route data to be autonomously traveled from the autonomous travel route data stored in the storage unit 51. Identify. The route identification information may be, for example, capacity data representing the capacity of the selected autonomous travel route data. In this case, the first control unit 54 uses the capacity data transmitted from the second control unit 124 among the autonomous travel route data stored in the storage unit 51, and the autonomous travel route data having the same capacity. , Specify as autonomous travel route data for autonomous travel.

It should be noted that the autonomous travel route data to which the reference station different from the first reference station is associated may also be displayed in a selectable state, and the associated reference station information may be confirmed by being selected. In that case, even if the autonomous travel route data to which different reference stations are associated can be selected, it is subsequently set to be non-transmissionable to the first control unit 54 of the tractor 1, or autonomous travel described later. It suffices that the start button is displayed in an inoperable state.

After that, when the conditions for starting the autonomous driving control are satisfied, the first control unit 54 transmits a startable state signal indicating that the autonomous driving control can be started to the second control unit 124. .. The condition that the autonomous traveling control can be started includes the condition that the accuracy of the first position information is evaluated to be high by the first evaluation unit 53. When the second control unit 124 receives the start enable state signal, the second control unit 124 displays the autonomous travel start button on the operation display device 102 in an operable state.

When the user operates the autonomous travel start button on the operation display device 102, the second control unit 124 transmits the autonomous travel start command to the first control unit 54 of the tractor 1. Upon receiving the autonomous travel start command, the first control unit 54 starts the autonomous travel control process. The second control unit 124 represents the evaluation result of the second position information and the second evaluation unit 123 every time the second position information is calculated by the second calculation unit 122 when the autonomous traveling control process is started. The evaluation information is transmitted to the first control unit 54 of the tractor 1.

8A and 8B are flowcharts for explaining the operation of the first control unit 54 regarding the switching of the autonomous travel control mode and the stop of the autonomous travel control.
Here, for convenience of explanation, it is assumed that the second reference station used for calculating the second position information is the same reference station as the first reference station used for calculating the first position information.
When the autonomous travel control process is started, the first control unit 54 determines whether or not the tractor 1 has reached the autonomous travel end position based on the first position information (step S1). The autonomous travel end position means a position where autonomous travel should be completed, and is, for example, the work end position E described with reference to FIG. 7.

If the tractor 1 has not reached the autonomous travel end position (step S1: NO), the first control unit 54 performs autonomous travel control based on the first position information (step S2). That is, the first control unit 54 operates in the first autonomous travel control mode.
Next, the first control unit 54 determines whether or not the accuracy of the first position information is evaluated to be high by the first evaluation unit 53 (step S3). If the accuracy of the first position information is evaluated to be high (step S3: YES), the first control unit 54 returns to step S1. If the tractor 1 has not reached the autonomous travel end position in step S1 (step S1: NO), the first control unit 54 shifts to step S2, so that autonomous travel control based on the first position information is continuously executed. Will be done.

If the accuracy of the first position information is evaluated to be low in step S3 (step S3: NO), the accuracy of the second position information of the first control unit 54 is improved by the second evaluation unit 123. It is determined whether or not it is evaluated as having high accuracy (step S4). When the accuracy of the second position information is evaluated to be high (step S4: YES), is the communication terminal 100 mounted on the support unit 6 (traveling machine body 2) in the first control unit 54? Whether or not it is determined (step S5). This determination is made based on the output signal of the attachment / detachment sensor 30.

When the communication terminal 100 is attached to the support unit 6 (step S5: YES), the first control unit 54 determines whether or not the tractor 1 has reached the autonomous travel end position based on the second position information. (Step S6). If the tractor 1 has not reached the autonomous travel end position (step S6: NO), the first control unit 54 performs autonomous travel control based on the second position information (step S7). That is, the control mode is switched from the first autonomous travel control mode to the second autonomous travel control mode.

Next, the first control unit 54 determines whether or not the accuracy of the first position information is evaluated to be high by the first evaluation unit 53 (step S8). When the accuracy of the first position information is evaluated to be low (step S8: NO), the accuracy of the second position information of the first control unit 54 is high by the second evaluation unit 123. It is determined whether or not it is evaluated as (step S9). When the accuracy of the second position information is evaluated to be high (step S9: YES), the first control unit 54 determines whether or not the communication terminal 100 is attached to the support unit 6. (Step S10).

When the communication terminal 100 is attached to the support unit 6 (step S10: YES), the first control unit 54 returns to step S6. If the tractor 1 has not reached the autonomous travel end position in step S6 (step S6: NO), the first control unit 54 shifts to step S7, so that autonomous travel control based on the second position information is continuously executed. Will be done.
If the accuracy of the first position information is evaluated to be high in step S8 (step S8: YES), the first control unit 54 returns to step S1. If the tractor 1 has not reached the autonomous travel end position in step S1 (step S1: NO), the first control unit 54 shifts to step S2, so that the second autonomous travel control mode is changed to the first autonomous travel control mode. The control mode will be switched.

If the accuracy of the second position information is evaluated to be low in step S4 or step S9 (step S4 or S9: NO), the first control unit 54 shifts to step S11. Further, even when it is determined in step S5 or step S10 that the communication terminal 100 has been removed from the support unit 6 (step S5 or S10: NO), the first control unit 54 shifts to step S11.

In step S11, the first control unit 54 stops the autonomous traveling control (abnormal stop). Specifically, the first control unit 54 stops the traveling of the tractor 1. The first control unit 54 also stops the autonomous work of the work machine 3. At this time, the autonomous work is stopped, that is, the power to the PTO axis is cut off, but since the PTO switch 17 is in the on position, the user temporarily presses the PTO switch 17 to start the autonomous work. After changing to the off position, the PTO switch 17 must be changed to the on position again.

When the tractor 1 deviates from the autonomous travel path, the user manually moves the tractor 1 onto the autonomous travel path. When the conditions for resuming the autonomous driving control are satisfied, the first control unit 54 transmits a resumable state signal indicating that the autonomous driving control can be restarted to the second control unit 124. The condition that the autonomous traveling control can be restarted includes the condition that the accuracy of the first position information is evaluated to be high by the first evaluation unit 53. When the second control unit 124 receives the restartable state signal, the second control unit 124 displays the autonomous travel restart button on the operation display device 102 in an operable state.

When the user operates the autonomous travel restart button on the operation display device 102, the second control unit 124 transmits the autonomous travel restart command to the first control unit 54 of the tractor 1. Upon receiving the autonomous travel restart command, the first control unit 54 restarts the autonomous travel control process. Specifically, the first control unit 54 proceeds to step S1 in FIG. 8A.
If it is determined in step S3 or step S8 that the tractor 1 has reached the autonomous travel end position (step S2 or S7: YES), the first control unit 54 ends the autonomous travel control. (Step S12). Specifically, the first control unit 54 stops the traveling of the tractor 1. This completes the autonomous driving control process this time.

In the above-described embodiment, when the autonomous travel control process is started, the autonomous travel control is started based on the first position information calculated by the first calculation unit 52 (see S1 and S2 in FIG. 8A). As a result, the control mode becomes the first autonomous driving control mode.
When the accuracy of the first position information becomes low during the autonomous travel control based on the first position information, the accuracy of the second position information is high and the communication terminal 100 is mounted on the support portion 6. It is determined whether or not the condition is satisfied (see S3 to S5 in FIG. 8A). If this condition is satisfied, autonomous travel control is performed based on the second position information calculated by the second calculation unit 122 (see S7 in FIG. 8B). As a result, the control mode is switched from the first autonomous control mode to the second autonomous control mode.

That is, in the above-described embodiment, even if the accuracy of the first position information calculated by the first calculation unit 52 on the tractor 1 side is lowered, the second calculation unit 122 on the communication terminal 100 side is satisfied if the predetermined conditions are satisfied. Autonomous driving control can be performed based on the second position information calculated by. In other words, even if the accuracy of the first position information is lowered, autonomous traveling can be continued if a predetermined condition is satisfied. This makes it possible to reduce the frequency with which the autonomous travel control is stopped as compared with a work vehicle capable of only autonomous travel control based on the first position information.

In the above-described embodiment, the control mode is switched from the second autonomous control mode to the first autonomous control mode when the accuracy of the first position information becomes high during the autonomous driving control based on the second position information (the second autonomous control mode is switched to the first autonomous control mode). See S8 in FIG. 8B).
Since the communication terminal 100 is detachably mounted on the support portion 6, the second position information may include an error due to a mounting error (mounting error) of the communication terminal 100. Therefore, when the autonomous travel control is performed based on the second position information, the route followability may be lower than when the autonomous travel control is performed based on the first position information. In the above-described embodiment, when the autonomous driving control is performed based on the second position information and the accuracy of the first position information becomes high, the autonomous driving control is executed based on the first position information. Therefore, it is possible to suppress the deterioration of the route followability as much as possible during autonomous traveling.

In the above-described embodiment, the condition that the accuracy of the second position information is high when the accuracy of the first position information becomes low during the autonomous travel control based on the first position information and the communication terminal 100 If at least one of the conditions that is mounted on the support portion 6 is not satisfied, the autonomous traveling control is stopped (see S3 to S5 and S11). Further, during the autonomous travel control based on the second position information, at least one of the condition that the accuracy of the second position information is high and the condition that the communication terminal 100 is mounted on the support portion 6 is satisfied. If it is not satisfied, the autonomous driving control is stopped (see S9, S10, S11).

This makes it possible to prevent autonomous driving control from being performed based on low-precision position information. Further, it is possible to prevent autonomous travel control from being performed based on the second position information in a state where the communication terminal 100 is not attached to the support portion 6. The reason for this is that when the communication terminal 100 is not attached to the support portion 6, even if the accuracy of the second position information is high, the accurate position of the traveling machine body 2 cannot be specified based on the second position information. ..

In the above-described embodiment, among the autonomous travel route data stored in the storage unit 121 of the communication terminal 100, only the autonomous travel route data to which the same reference station as the currently selected first reference station is associated is autonomous. It cannot be selected as an autonomous driving route to be traveled. In other words, the first control unit 54 controls autonomous travel when the first reference station and the reference station associated with the autonomous travel route data (hereinafter, may be referred to as "third reference station") are the same. Can be executed. This makes it possible to prevent the tractor 1 from deviating from the field during autonomous traveling. This point will be described in detail.

As described above, the reference station calculates the positioning information of the position of the reference station using the positioning system, and positions the difference between the self-position (recognized self-position) recognized in advance and the calculated positioning information. Send as correction information. However, depending on the reference station, there may be an error in the recognition self-position. When the first reference station and the third reference station are different, and there is an error in the recognition self-position of at least one reference station, the amount of deviation of the first position information calculated at the time of traveling route generation with respect to the actual position , The amount of deviation of the first position information calculated during autonomous driving with respect to the actual position is different. The actual position means the actual position of the work vehicle. The amount of deviation mainly refers to the amount of deviation in the longitude direction and the amount of deviation in the latitude direction. Therefore, the tractor 1 may deviate from the field during autonomous traveling.

On the other hand, when the first reference station and the third reference station are the same, the actual position of the first position information calculated when the traveling route is generated even if there is an error in the recognition self-position of the reference station. The amount of deviation from the actual position and the amount of deviation of the first position information calculated during autonomous driving with respect to the actual position are substantially the same. Therefore, in the above-described embodiment, it is possible to prevent the tractor 1 from deviating from the field during autonomous traveling.

Although the embodiment of the present invention has been described above, the present invention can also be implemented in other embodiments. For example, in the above-described embodiment, in order to start or restart the autonomous traveling control, it is necessary to satisfy the condition that the accuracy of the first position information is high. However, this condition may be replaced with the condition that at least one of the accuracy of the first position information and the accuracy of the second position information is high accuracy. In this case, when the autonomous driving control is started or restarted in a state where the accuracy of the first position information is low and the accuracy of the second position information is high, the broken line immediately after START is shown in FIG. 8A. As shown, the first control unit 54 may proceed to step S6.

In the above-described embodiment, the communication terminal 100 is mounted at a predetermined position substantially directly below the satellite signal receiving antenna 46 in a state of being mounted on the support portion 6, but the communication terminal 100 is mounted on the satellite signal receiving antenna. It may be mounted at a predetermined position different from the position directly below the 46. In this case, the second position information calculated by the second calculation unit 122 cannot be regarded as the position information of the aircraft reference position. Therefore, in this case, it is preferable that the first control unit 54 or the second control unit 124 converts the second position information calculated by the second calculation unit 122 into the position information of the aircraft reference position. When the first control unit 54 performs autonomous travel control based on the second position information, it is preferable that the first control unit 54 performs autonomous travel control using the converted position information (position information of the aircraft reference position).

The conversion of the second position information into the position information of the traveling machine body 2 is performed, for example, as follows. The relative positional relationship (distance in the front-rear direction and distance in the left-right direction) between the machine reference position and the mounting position of the communication terminal 100 is measured in advance and set in the storage unit. Then, the first control unit 54 or the second control unit 124 is calculated by the second calculation unit 122 based on the relative positional relationship between the aircraft reference position and the communication terminal 100 and the traveling direction of the tractor 1. Converts the position information into the position information of the aircraft reference position.

Further, in the above-described embodiment, the second reference station is the same reference station as the first reference station, but the second reference station may be a reference station different from the first reference station. In this case, the position information of the aircraft reference position specified based on the second position information (hereinafter referred to as "third position information") is the position of the aircraft reference position specified based on the first position information. There is a possibility that a deviation (error) may occur with respect to the information (equal to the first position information). Therefore, in such a case, it is preferable to correct the third position information as follows so that the third position information becomes equal to the first position information. In the above-described embodiment, the second position information is equal to the position information of the aircraft reference position specified based on the second position information, so that the third position information is equal to the second position information.

That is, when the accuracy of both the first position information and the second position information is evaluated to be high in autonomous driving, the first control unit 54 shifts the third position information with respect to the first position information. The amount (the amount of deviation in the longitude direction and the latitude direction) is calculated as error correction information and stored in the storage unit 51. It is preferable that the error correction information stored in the storage unit 51 is updated with the latest correction information each time the correction information is newly calculated. Then, when the autonomous traveling control is performed based on the second position information, the first control unit 54 corrects the third position information specified based on the second position information by using the error correction information. , Autonomous driving control is performed using the corrected third position information.

In the above-described embodiment, RTK-GNSS is used as the positioning system, but a positioning system other than RTK-GNSS such as a relative positioning method (DGPS), a geostationary satellite navigation augmentation system (SBAS), etc. is used. You may use it.
In addition, various design changes can be made within the scope of the matters described in the claims.

1 Tractor (working vehicle)
2 Traveling machine 3 Working machine 6 Communication terminal support part 30 Detachable sensor 52 First calculation unit 53 First evaluation unit 54 First control unit (control unit)
100 Communication terminal 122 2nd calculation unit 123 2nd evaluation unit 124 2nd control unit

Claims (10)

An autonomous traveling system including a work vehicle that autonomously travels along a predetermined travel route and a communication terminal capable of transmitting a predetermined control signal to the work vehicle.
The work vehicle calculates first position information representing the position of the work vehicle by using a control unit capable of executing autonomous travel control for autonomously traveling the work vehicle along the travel route and a satellite positioning system. It includes a first calculation unit, a first evaluation unit that evaluates the accuracy of the first position information calculated by the first calculation unit, and a detection unit that detects the attachment of the communication terminal to the work vehicle.
The communication terminal evaluates the accuracy of the second calculation unit that calculates the second position information representing the position of the communication terminal using the satellite positioning system and the second position information calculated by the second calculation unit. With a second evaluation department,
If a predetermined condition is satisfied while the control unit is executing autonomous travel control based on the first position information, the control unit autonomously travels based on the second position information instead of the first position information. It is possible to carry out control,
The predetermined condition includes at least a first condition, a second condition different from the first condition, and a third condition different from the first condition and the second condition.
The first condition is that the accuracy of the first position information is evaluated to be low by the first evaluation unit.
The second condition is that the accuracy of the second position information is evaluated to be highly accurate by the second evaluation unit.
The third condition is that the detection unit detects the attachment of the communication terminal to the work vehicle.
When the control unit executes autonomous driving control based on the first position information, the first condition is satisfied, while the second condition or the third condition is not satisfied, the control unit is autonomous. An autonomous driving system characterized by stopping driving control. When the control unit is executing the autonomous driving control based on the second position information, if the second condition or the third condition is no longer satisfied, the control unit stops the autonomous driving control and the first one. The autonomous traveling system according to claim 1, wherein when the condition is no longer satisfied, the autonomous traveling control can be executed based on the first position information. The first calculation unit is the first position based on the positioning information of the work vehicle calculated based on satellite signals received from a plurality of positioning satellites and the positioning correction information received from a predetermined first reference station. It is configured to calculate information and
A specific third reference station is associated with the traveling route.
The autonomous driving system according to claim 1 or 2, wherein the control unit can execute autonomous driving control when the first reference station and the third reference station are the same. An autonomous traveling system including a work vehicle that autonomously travels along a predetermined travel route and a communication terminal capable of transmitting a predetermined control signal to the work vehicle.
The work vehicle calculates first position information representing the position of the work vehicle by using a control unit capable of executing autonomous travel control for autonomously traveling the work vehicle along the travel route and a satellite positioning system. Equipped with a first calculation unit
The communication terminal includes a second calculation unit that calculates second position information representing the position of the communication terminal using a satellite positioning system.
The first calculation unit calculates the first position information by using the positioning information of the work vehicle calculated based on the satellite signals received from a plurality of positioning satellites via the first satellite signal receiving antenna . It is configured as
The second calculation unit calculates the second position information using the positioning information of the communication terminal calculated based on the satellite signals received from a plurality of positioning satellites via the second satellite signal receiving antenna . It is configured as
The second satellite signal receiving antenna is arranged at a position substantially directly below the first satellite signal receiving antenna.
If a predetermined condition is satisfied while the control unit is executing autonomous travel control based on the first position information, the control unit autonomously travels based on the second position information instead of the first position information. An autonomous driving system characterized in that it is possible to execute control. The work vehicle includes a first evaluation unit that evaluates the accuracy of the first position information calculated by the first calculation unit.
The predetermined condition includes at least the first condition, and the predetermined condition includes at least the first condition.
The autonomous traveling system according to claim 4, wherein the first condition is that the accuracy of the first position information is evaluated by the first evaluation unit as having low accuracy. The communication terminal includes a second evaluation unit that evaluates the accuracy of the second position information calculated by the second calculation unit.
The predetermined condition includes a second condition different from the first condition.
The autonomous traveling system according to claim 5, wherein the second condition is that the accuracy of the second position information is evaluated to be highly accurate by the second evaluation unit. The work vehicle includes a support portion that detachably supports the communication terminal and a detection unit that detects attachment of the communication terminal to the support portion.
The plurality of conditions include the first condition and a third condition different from the second condition.
The autonomous traveling system according to claim 6, wherein the third condition is that the detection unit detects the attachment of the communication terminal to the support unit. When the control unit is executing the autonomous driving control based on the second position information, if the second condition or the third condition is no longer satisfied, the control unit stops the autonomous driving control and the first one. The autonomous traveling system according to claim 7, wherein when the condition is no longer satisfied, the autonomous traveling control can be executed based on the first position information. When the control unit executes autonomous driving control based on the first position information, the first condition is satisfied, while the second condition or the third condition is not satisfied, the control unit is autonomous. The autonomous driving system according to claim 7 or 8, wherein the traveling control is stopped. The first calculation unit is configured to calculate the first position information based on the positioning information of the work vehicle and the positioning correction information received from the predetermined first reference station.
The second calculation unit is configured to calculate the second position information based on the positioning information of the communication terminal and the positioning correction information received from a predetermined second reference station different from the first reference station. Ori,
A specific third reference station is associated with the traveling route.
The invention according to any one of claims 4 to 9, wherein the control unit can execute autonomous driving control when the first reference station and the third reference station are the same. Autonomous driving system.

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