JP7349518B2 - autonomous driving system - Google Patents

Description

The present invention relates to an autonomous driving system. In particular, the present invention relates to an autonomous driving system for a work vehicle that can autonomously travel along a predetermined travel route.

2. Description of the Related Art Autonomous travel systems for work vehicles that can autonomously travel along predetermined travel routes have been known. Patent Document 1 discloses a work vehicle included in this type of autonomous driving system and a method for detecting and responding to an abnormality in the work vehicle. In the autonomous driving system of Patent Document 1, when it is detected that the work vehicle has protruded outside the set area, the vehicle is immediately stopped, the occurrence of an abnormality is notified, and a countermeasure is displayed, and the administrator and drivers are requested to take measures including temporary manual driving/operation. After the manager or driver takes action to deal with the abnormality, work is resumed after checking to see if the situation has returned to normal and confirming with the manager or driver. There is.

Japanese Patent Application Publication No. 2000-66725

However, in the configuration of Patent Document 1, when the work vehicle protrudes outside the set area and stops, the manager or driver manually drives the work vehicle to move the work vehicle to the work restart position (position to resume work). After that, it was necessary to resume work. Accurately moving a work vehicle to a specific position within a work zone requires advanced driving skills, and there is room for improvement in that work cannot be easily restarted.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an autonomous driving system that allows a work vehicle to easily resume work after it has stopped.

An autonomous driving system according to one embodiment includes a position information acquisition section, a control section, and a deviation determination section. The position information acquisition unit acquires position information of the work vehicle. The control unit causes the work vehicle to perform autonomous work along a predetermined work route while autonomously traveling along a predetermined travel route. The deviation determination unit determines whether the work vehicle has deviated from the travel route based on the position information obtained by the position information acquisition unit. The deviation determination unit determines that the work vehicle has deviated from the travel route if the position of the work vehicle is outside a deviation determination range based on the travel route. The control unit stops the work vehicle when the deviation determination unit determines that the work vehicle has deviated from the travel route.

1 is a side view showing the overall configuration of a robot tractor included in an autonomous driving system according to an embodiment of the present invention. A top view of a robot tractor. FIG. 1 is a diagram showing a wireless communication terminal provided in an autonomous driving system according to an embodiment of the present invention. FIG. 2 is a block diagram showing the main configuration of a control system of a robot tractor and a wireless communication terminal. The figure which shows the example of a display of the monitoring screen on the display of a wireless communication terminal. FIG. 3 is a diagram illustrating a deviation determination width and a margin width set for a work route. A flowchart showing the first half of the process from when the robot tractor deviates from the travel route and stops until it resumes autonomous driving and autonomous work. 12 is a flowchart showing the second half of the process from when the robot tractor deviates from the travel route and stops until it resumes autonomous driving and autonomous work. The figure which shows the state where the robot tractor deviated from the work route and stopped. The figure which shows the case where a robot tractor deviates from a non-work route and stops in a non-work area. The figure which shows the case where a robot tractor deviates from a non-work route and stops in a work area. FIG. 2 is a schematic diagram illustrating a first range and a second range that are set based on the restart position, and a tractor stopped in the forward direction of the traveling route from the restart position within the second range. FIG. 3 is a schematic diagram illustrating a tractor stopped within a second range from a restart position in the traveling direction of the travel route. FIG. 7 is a diagram illustrating a modification of the first range and the second range that are taken into consideration when determining whether or not a positioning path can be created. Hatching in the figure indicates an area outside the first range and within the second range.

Next, embodiments of the present invention will be described with reference to the drawings. Hereinafter, the same members in each figure of the drawings will be denoted by the same reference numerals, and overlapping explanations may be omitted. Further, the names of members and the like corresponding to the same reference numerals may be simply rephrased, or may be rephrased with the name of a more general concept or a lower concept.

The present invention provides an autonomous driving system that allows one or more working vehicles to travel autonomously within a predetermined field to perform all or part of agricultural work within the field. Regarding. In this embodiment, a tractor will be described as an example of a work vehicle. In addition to tractors, work vehicles include rice transplanters, combine harvesters, civil engineering/construction work equipment, snowplows, and other riding-type work machines, as well as walking-type work vehicles. Machines are also included. In this specification, autonomous driving means that the tractor's driving configuration is controlled by a control unit (ECU) of the tractor and the tractor travels along a predetermined route. This means that the configuration related to work of the tractor is controlled by the control unit of the tractor, and the tractor performs the work along a predetermined route. On the other hand, manual traveling/manual work means that each component of the tractor is operated by the user to perform traveling/work.

In the following explanation, a tractor that runs autonomously and works autonomously may be referred to as an "unmanned tractor" or a "robot tractor," and a tractor that runs and works manually is sometimes referred to as a "manned tractor." Sometimes. When part of the agricultural work in a field is performed by an unmanned tractor, the remaining agricultural work is performed by a manned tractor. The execution of agricultural work in a single field by unmanned tractors and manned tractors is sometimes referred to as cooperative work, follow-up work, accompanying work, etc. of agricultural work. In this specification, the difference between an unmanned tractor and a manned tractor is the presence or absence of operation by a user, and each configuration is basically the same. In other words, even if it is an unmanned tractor, it is possible for a user to board (ride) and operate it (in other words, it can be used as a manned tractor), or even if it is a manned tractor, the user can get off and operate it autonomously. - It is possible to operate autonomously (that is, it can be used as an unmanned tractor). In addition to ``carrying out agricultural work in a single field using unmanned vehicles and manned vehicles,'' cooperative agricultural work includes ``carrying out agricultural work in different fields, such as adjacent fields, at the same time by unmanned vehicles and manned vehicles.'' It may also include "to carry out."

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

As shown in FIG. 1, a robot tractor (work vehicle) 1 included in an autonomous driving system 99 according to an embodiment of the present invention performs work that is operated by performing wireless communication with a wireless communication terminal 46. It is a vehicle. By operating the wireless communication terminal 46 by the user and appropriately exchanging signals with the control unit 4 of the tractor 1, the tractor 1 can be caused to travel autonomously and perform autonomous work.

First, a robot tractor (hereinafter sometimes simply referred to as a "tractor") 1 provided in an autonomous driving system 99 according to an embodiment of the present invention will be described with reference mainly to FIGS. 1 and 2. .

The tractor 1 includes a traveling body (vehicle body) 2 that can autonomously travel within a field (driving area). A working machine 3 shown in FIGS. 1 and 2 is detachably attached to the traveling body 2. As this working machine 3, there are various working machines such as a power tiller, a plow, a fertilizer applicator, a mowing machine, a seeding machine, etc., and a desired working machine 3 is selected from among these as necessary to control the traveling machine. It can be installed on 2. The traveling body 2 is configured to be able to change the height and posture of the working machine 3 attached thereto.

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

A bonnet 9 is arranged at the front of the traveling body 2. The hood 9 accommodates an engine 10 and a fuel tank (not shown), which is a driving source for the tractor 1. This 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 driving source, an electric motor may be used in addition to or in place of the engine.

A cabin 11 for a user to board is arranged behind the hood 9. Inside the cabin 11, there are mainly provided a steering handle 12 for the user to perform steering operations, a seat 13 on which the user can sit, and various operating devices for performing various operations. However, the work vehicle is not limited to one with the cabin 11, and may be one without the cabin 11.

The above operating devices include the monitor device 14 shown in FIG. 2, 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 work equipment lift switch. 28 etc. can be mentioned as an example. These operating devices are arranged near the seat 13 or near the steering wheel 12.

The monitor device 14 is configured to be able to display various information about the tractor 1. The throttle lever 15 is an operating tool for setting the output rotation speed of the engine 10. The main speed change lever 27 is an operating tool for changing the traveling speed of the tractor 1 steplessly. The hydraulic operating lever 16 is an operating tool for switching an unillustrated external hydraulic pressure valve. The PTO switch 17 is an operating tool for switching between transmitting and cutting off power to an unillustrated 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, the PTO shaft rotates, and the work equipment 3 is driven, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off. As a result, the PTO shaft does not rotate, and the work machine 3 is stopped. The PTO speed change lever 18 is used to change the power input to the working machine 3, and specifically is an operating tool for changing the rotational speed of the PTO shaft. The sub-shift lever 19 is an operating tool for switching the gear ratio of the travel sub-shift gear mechanism within the transmission 22. The work implement lift switch 28 is an operating tool for raising and lowering the height of the work implement 3 mounted on the traveling machine body 2 within a predetermined range.

As shown in FIG. 1, a chassis 20 of the tractor 1 is provided at the bottom of the traveling body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

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

As shown in FIG. 4, the tractor 1 includes a control unit 4 for controlling the operation of the traveling body 2 (forward movement, reverse movement, stopping, turning, etc.) and the operation of the working machine 3 (elevating, lowering, driving, stopping, etc.) . The control unit 4 includes a CPU, ROM, RAM, I/O, etc. (not shown), and the CPU can read various programs from the ROM and execute them. The control unit 4 is electrically connected to a controller for controlling each component included in the tractor 1 (for example, the engine 10, etc.), and a wireless communication unit 40 capable of wirelessly communicating with other wireless communication devices. ing.

As the above controllers, the tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, and a lift controller (not shown). Each controller can control each component of the tractor 1 according to electrical signals 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 including an actuator (not shown) that changes 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 that adjusts the injection timing and injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10 . By controlling the fuel injection device 45, the engine controller can, for example, stop supplying fuel to the engine 10 and stop driving the engine 10.

The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42 that is, for example, a movable swash plate type hydraulic continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 by changing the angle of the swash plate of the transmission 42 using an unillustrated actuator to achieve a desired vehicle speed.

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

The lifting controller controls the lifting and lowering of the working machine 3. Specifically, the tractor 1 includes a lifting actuator 44 made of a hydraulic cylinder or the like near a three-point linkage mechanism that connects the working machine 3 to the traveling body 2. With this configuration, the lifting controller drives the lifting actuator 44 based on the control signal input from the control unit 4 to raise and lower the working equipment 3 as appropriate, thereby allowing the working equipment 3 to carry out agricultural work at a desired height. It can be carried out. With this control, the working machine 3 can be supported at a desired height such as a retreat height (a height at which agricultural work is not performed) and a working height (a height at which agricultural work is performed).

In addition, since the plurality of controllers (not shown) described above control each part such as the engine 10 based on signals input from the control part 4, it is assumed that the control part 4 substantially controls each part. can be grasped.

The tractor 1 equipped with the above-mentioned control unit 4 can control each part of the tractor 1 (the traveling body 2, the working machine 3, etc.) by the control unit 4 when the user gets on the cabin 11 and performs various operations. The vehicle is configured so that agricultural work can be carried out while traveling within the field. In addition, the tractor 1 of the present embodiment is capable of autonomous driving and autonomous work based on a predetermined control signal output from the wireless communication terminal 46 even when the user does not board the tractor 1. There is.

Specifically, as shown in FIG. 4 and the like, the tractor 1 is equipped with various configurations to enable autonomous travel and autonomous work. For example, the tractor 1 includes a positioning antenna 6 and the like necessary for acquiring position information of itself (the traveling vehicle 2) based on a 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 of the tractor 1 to enable autonomous travel will be described in more detail. Specifically, as shown in FIG. 4 etc., the tractor 1 of this embodiment includes a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, a front camera 56, a rear camera 57, a vehicle speed sensor, and a memory. 55 and the like. In addition to these, the tractor 1 is equipped with an inertial measurement unit (IMU) that can specify the attitude (roll angle, pitch angle, yaw angle) of the traveling body 2.

The positioning antenna 6 receives signals from positioning satellites that constitute 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 a position information acquisition section 49 as a position detection section 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 and 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 driving.

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

The wireless communication antenna 48 receives signals from the wireless communication terminal 46 operated by the user and transmits signals 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 of the cabin 11 of the tractor 1. A signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is input to the control unit 4 after signal processing by the wireless communication unit 40 shown in FIG. Further, a signal transmitted from the control unit 4 or the like to the wireless communication terminal 46 is processed by the wireless communication unit 40, and then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

The front camera 56 is for photographing the front of the tractor 1. The rear camera 57 is for photographing 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 video data captured by the front camera 56 and the rear camera 57 is transmitted by the wireless communication unit 40 to the wireless communication terminal 46 from the wireless communication antenna 48 . The wireless communication terminal 46 that has received the video data displays the content on the display 37.

The vehicle speed sensor described above detects the vehicle speed of the tractor 1, and is provided, for example, on the axle between the front wheels 7, 7. The detection result data obtained by the vehicle speed sensor is signal-processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48, received by the wireless communication terminal 46, and its contents are displayed on the display 37. . In addition to the vehicle speed sensor, the tractor 1 is provided with various sensors for detecting (monitoring) the state of the tractor 1.

The storage unit 55 stores a travel route for autonomously driving the tractor 1 and a work route for autonomously working, and stores changes in the position (traveling trajectory) of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous travel. It is a memory that can be used to In addition, the storage unit 55 stores various information necessary for causing the tractor 1 to travel autonomously and work autonomously.

The wireless communication terminal 46 is configured as a tablet-type personal computer including a touch panel 39, as shown in FIG. The user can check the information displayed on the display 37 of the wireless communication terminal 46 (for example, information from the front camera 56, rear camera 57, vehicle speed sensor, etc.). The user also operates the touch panel 39 or the hardware keys 38 disposed near the display 37 to send a control signal (for example, a temporary stop signals, etc.). It should be noted that the wireless communication terminal 46 is not limited to a tablet-type personal computer, and may be configured with, for example, a notebook-type personal computer instead of a keyboard. Alternatively, when a manned tractor is driven along with an unmanned tractor 1 to perform the above-mentioned cooperative work, the monitor device 14 mounted on the manned tractor may be a wireless communication terminal.

The tractor 1 configured in this manner is capable of performing agricultural work using the work implement 3 along the work route P1 while traveling along the travel route P on the field based on instructions from a user using the wireless communication terminal 46. I can do it.

Specifically, by making various settings using the wireless communication terminal 46, the user can create a linear or polygonal work route P1 for agricultural work, and an arc-shaped turning path connecting the ends of the work route P1. It is possible to generate a driving route (path) P as a series of routes that alternately connects (non-working route on which the tractor 1 turns) P2. Then, the information on the travel route (work route P1 and non-work route 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, and a predetermined By performing the operation, the tractor 1 can be controlled by the control unit 4, and while the tractor 1 is autonomously traveling along the traveling route P, the working machine 3 can be caused to work autonomously along the work route P1.

Below, the configuration of the wireless communication terminal 46 will be described in more detail with reference to FIGS. 3 to 5. FIG. 5 is a diagram showing a display example of the monitoring screen 100 on the display 37 of the wireless communication terminal 46. As shown in FIG.

As shown in FIGS. 3 and 4, in addition to a display 37, hardware keys 38, and a touch panel 39, the wireless communication terminal 46 of this embodiment includes a display control section 31, a storage section 32, and other main components of the control system. , a field acquisition section 33, a work area acquisition section 34, a travel route acquisition section 35, an automatic positioning start instruction section 36, an autonomous travel/autonomous work restart instruction section 30, and the like.

Specifically, the wireless communication terminal 46 is configured as a computer as described above, and includes a CPU, ROM, RAM, and the like. Further, the ROM stores an appropriate program for causing the tractor 1 to perform autonomous travel and autonomous work. Through the cooperation of this software and hardware, the wireless communication terminal 46 is controlled by the display control section 31, the storage section 32, the field acquisition section 33, the work area acquisition section 34, the driving route acquisition section 35, the automatic positioning start instruction section 36, It can also be operated as an autonomous running/autonomous work restart instruction section 30, etc.

The display control unit 31 creates display data to be displayed on the display 37 and controls the display contents as appropriate. For example, the display control unit 31 causes the display 37 to display the monitoring screen 100 shown in FIG. 5 while the tractor 1 is autonomously traveling along the travel route P and working autonomously along the work route P1.

The storage unit 32 stores information regarding the tractor 1, information regarding the field, etc. that the user inputs by operating the touch panel 39 of the wireless communication terminal 46, and also stores created travel routes P (work route P1 and non-work route P2). ) is a memory that stores information such as

The field acquisition unit 33 stores the position and shape of a field (driving area) on which the tractor 1 performs autonomous travel and autonomous work. The position and shape of the field can be acquired, for example, by a user riding the tractor 1 and driving it around once along the outer periphery 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 a work area in which agricultural work is to be performed, which is arranged in a field where the tractor 1 is autonomously traveling. Specifically, the wireless communication terminal 46 of this embodiment is configured to be able to set the width of the headland and the width of the non-cultivated land by performing a predetermined operation. Then, a non-working area consisting of the headland and 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 the non-working area is divided from the field area. The area excluding the area is defined as the work area.

The traveling route acquisition unit 35 acquires a traveling route that alternately connects a working route P1 in which the tractor 1 performs agricultural work autonomously in the field and a non-working route (turning route) P2 that connects the ends of this working route P1. Generate and obtain P. When the user inputs the information necessary to generate the driving route P using the touch panel 39 or the like, the driving route acquisition unit 35 automatically creates the driving route P (work route P1 and non-work route P2) based on the information. . This traveling route P is generated such that a straight or polygonal working route P1 is included in the working area, and a non-working route (turning route) P2 is included in a non-working area such as a headland. The driving route P generated by the driving route acquisition unit 35 is stored in the storage unit 32.

The user operates the wireless communication terminal 46 as appropriate to input (transfer) information about the driving route P generated by the driving route acquisition unit 35 to the storage unit 55 of the tractor 1. After that, the user gets on the tractor 1 and drives it, thereby placing the tractor 1 at the starting position of the traveling route P (see FIGS. 9 and 10). Subsequently, the user gets off the tractor 1, operates the wireless communication terminal 46, and instructs the start of autonomous driving and autonomous work. Thereby, the control unit 4 controls the traveling and agricultural work of the tractor 1 so that the tractor 1 performs agricultural work along the working route P1 while traveling along the traveling route P.

With the start of autonomous driving/autonomous work, the display screen of display 37 is switched to monitoring screen 100 shown in FIG. 5.

On the left side of the monitoring screen 100, a front camera display section 101 and a rear camera display section 102 that display data transmitted from the front camera 56 and the rear camera 57 as video data, respectively, are arranged vertically. On the right side of the monitoring screen 100, a work status display section 103 is arranged that graphically shows the traveling route P, current position, etc. of the tractor 1 using a drawing or the like. A vehicle speed display section 106 that displays the current vehicle speed of the tractor 1 is provided above the front camera display section 101. The vehicle speed display section 106 displays the current vehicle speed of the tractor 1, which is acquired based on data transmitted from the vehicle speed sensor described above.

Next, control regarding autonomous travel and autonomous work performed by the tractor 1 of this embodiment will be described with reference to FIGS. 4, 6, and the like. FIG. 6 is an explanatory diagram illustrating the deviation determination width JW and margin width MW set for the work route P1.

The tractor 1 of this embodiment is configured to constantly monitor whether or not the tractor deviates from the travel route P while autonomously traveling and performing autonomous work. If the tractor 1 deviates from the traveling route P due to some reason such as slipping or a malfunction of the steering actuator 43, the control unit 4 of the tractor 1 (traveling body 2) controls the traveling body 2 to stop and travels. automatically stop. FIG. 6 shows a situation where the tractor 1 deviates from the work route P1, which is a part of the travel route P, and therefore stops.

Furthermore, in this embodiment, when the tractor 1 is automatically stopped based on deviating from the travel route P, a restart position (resume point) for restarting autonomous driving/autonomous work is set. The configuration is as follows. Note that the restart position here means a position where the tractor 1 is placed in order to resume traveling and work from a midway point on the traveling route P.

As shown in FIG. 4, the tractor 1 of this embodiment has a characteristic configuration for realizing the above functions, as shown in FIG. and an alignment route creation section 54. Further, as a configuration related to the above functions, the wireless communication terminal 46 is provided with an automatic positioning start instruction section 36 and an autonomous driving/autonomous work restart instruction section 30.

Each configuration related to the above functions will be described in detail below with reference to FIG. 4 and the like.

The deviation determination unit 51 determines whether the position of the tractor 1 (traveling body 2, strictly speaking, the positioning antenna 6) deviates from the traveling route P using the position information obtained from the position information acquisition unit 49 and the storage. The determination is made based on the path read from the section 55. Although FIG. 6 shows a case where a deviation from the linear work route P1 of the travel route P is determined, in this embodiment, the deviation determination unit 51 When the position of the tractor 1 is outside a predetermined deviation determination width (autonomous driving continuation range) JW, it is determined that the tractor 1 has deviated from the work route P1. An example of the deviation judgment width JW set for the work route P1 is shown in FIG. 6, and this deviation judgment width JW is, for example, 1/2 of the vehicle width (width of the traveling aircraft 2) to the left with the work route P1 as the center, The right side can be 1/2 the width of the vehicle. Since running inertia acts on the tractor 1, the position T2 at which the tractor 1 deviates from the departure determination width JW does not, in principle, coincide with the position T3 at which the tractor 1 actually stops after that. The control unit 4 causes the storage unit 55 to store the position coordinates of the position T3 when the tractor 1 deviates from the deviation determination width JW and the traveling body 2 actually stops as the deviation stop position.

Note that the deviation determination unit 51 monitors whether the position of the tractor 1 deviates from the above-mentioned deviation determination width JW, and at the same time monitors whether the position of the tractor 1 deviates from the margin width MW that is determined to be narrower than the deviation determination width JW. We will also monitor whether or not the An example of the margin width MW is shown in FIG. 6, and this margin width MW is set to MA on the left and MA on the right with the work route P1 as the center, so as to cover the range of GNSS error, for example. (However, MA < 1/2 of the vehicle width). Even if the position of the tractor 1 goes outside the margin width MW, the departure determination unit 51 does not determine that the tractor 1 has deviated from the work route as long as it does not go outside the departure determination width JW. Thereby, it is possible to prevent the tractor 1 from stopping due to a deviation from the travel route that exceeds the error range of GNSS but does not need to be treated as a route deviation. However, the position of the tractor 1 at the time when it moves out of the margin width MW is stored in the storage unit 55 as a point at which a certain degree of deviation has occurred in the traveling trajectory of the tractor 1. In the following description, the position at which the position of the tractor 1 protrudes outside the margin width MW (position T1 in FIG. 6) may be referred to as the margin excess position.

Note that the determination of deviation from the non-work route P2 will not be explained in detail, but for example, similarly to the determination of deviation from the work route P1, it is determined whether the position of the tractor 1 is outside a predetermined deviation determination range. It can be configured to make a determination.

The restart position setting unit 52 calculates and sets a restart position R1 at which the tractor 1 will resume autonomous travel/work when the tractor 1 deviates from the travel route P.

After the tractor 1 has stopped based on the deviation of the traveling machine body 2 from the traveling route P, the alignment route creation determination unit 53 causes the tractor 1 to travel from the current position to the restart position R1 as necessary. The positioning route creating unit 54 is instructed to create a positioning route for the purpose. Specifically, as shown in FIG. 12, when considering two ranges (a first range and a second range larger than the first range) based on the restart position R1, the positioning route creation determination is made. When the current position of the tractor 1 is within the first range, the unit 53 does not instruct the alignment route creating unit 54 to create the alignment route. On the other hand, when the current position of the tractor 1 is outside the first range and within the second range, the positioning route creation determining unit 53 instructs the positioning route creating unit 54 to create a positioning route.

An example of the first range and the second range is shown in FIG. Although it is exaggerated in FIG. 12, in this embodiment, the first range is an area surrounded by a small circle (for example, a circle with radius r = 2 cm) centered on the restart position R1, The second range is an area surrounded by a large circle (for example, a circle with radius r=vehicle width/2) centered on the restart position R1.

The automatic alignment start instructing unit 36 is an operation unit for the user to send a signal to the control unit 4 when the user wants to automatically align the position of the tractor 1 to the restart position R1. The automatic alignment start instruction section 36 can be configured as a virtual button displayed on the display 37, for example.

The autonomous driving/autonomous work restart instruction unit 30 is configured to instruct the user when the tractor 1 wants to start autonomous driving/autonomous work after the tractor 1 has stopped based on the traveling machine body 2 deviating from the driving route P. This is the operation section that is operated by. The autonomous driving/autonomous work resumption instruction section 30 can be configured as a virtual button displayed on the display 37, for example. The autonomous travel/autonomous work restart instruction unit 30 of this embodiment becomes operable when the tractor 1 is stopped at or near the restart position (within the first range) for a certain period of time, and is inoperable in other cases. It is said that

Next, when the traveling body 2 deviates from the traveling route P due to some reason while the tractor 1 is autonomously traveling, the deviation determining section 51, the restart position setting section 52, the positioning route creation determining section 53, and the positioning The processing performed by the route creation unit 54 and the like will be explained with reference mainly to FIGS. 7 and 8. FIGS. 7 and 8 are diagrams illustrating the process from when the tractor 1 deviates from the travel route and stops until it resumes autonomous travel and autonomous work.

When the tractor 1 is autonomously traveling, the deviation determination unit 51 repeatedly acquires the position of the positioning antenna 6 obtained by the position information acquisition unit 49 at predetermined time intervals, and determines whether the position of the positioning antenna 6 is as described above. Monitor whether it is outside the deviation judgment width JW. When the deviation determination section 51 determines that the tractor 1 has deviated from the traveling route P (that is, the position of the positioning antenna 6 has deviated from the deviation determination width JW), the control section 4 of the tractor 1 causes the traveling body 2 to Immediately perform stop control to stop it.

When the tractor 1 is traveling on the work route P1 of the driving route P, when the tractor 1 deviates from the deviation judgment width JW, it must also deviate from the margin width MW at a previous stage. . At the time when the deviation determining unit 51 determines that the position of the tractor 1 (strictly speaking, the positioning antenna 6) deviates from the margin width MW, the control unit 4 of the tractor 1 determines the position of the positioning antenna 6 at that time. The information indicating the margin is acquired and stored in the storage unit 55 as the above-mentioned margin excess position.

When it is confirmed by the detection result of the vehicle speed sensor that the tractor 1 is stopped based on the deviation from the traveling route P and the traveling body 2 has actually stopped, the process shown in FIG. 7 is started. The restart position setting unit 52 first determines whether the route on which the tractor 1 was traveling immediately before deviating from the travel route P was a straight or polygonal work route (a route where agricultural work is performed) P1. (Step S101). That is, the tractor 1 deviates from the driving route P when it deviates from the working route (route where agricultural work is performed) P1 as shown in FIG. The restart position setting unit 52 determines which of the above cases occurred.

If it is determined in step S101 that the route on which the tractor 1 was traveling immediately before deviating from the travel route P is the work route P1 (step S101, Yes), the restart position setting unit 52 sets the restart position. As information necessary for calculation, the position information of the above-mentioned margin excess position (position T1 in the example of FIG. 6) is acquired from the storage unit 55 (step S102).

Subsequently, the restart position setting unit 52 specifies the work route P1 on which the tractor 1 was traveling immediately before deviating from the travel route P from among the plurality of work routes P1, P1, . . . A virtual perpendicular line is drawn from the margin excess position T1 acquired in step S102 to the route P1 (step S103). Note that FIG. 6 is an enlarged view of the vicinity of the margin excess position T1 in FIG. 11, and the above-mentioned perpendicular line is explained in this FIG. Then, the restart position setting unit 52 sets the foot position of the perpendicular line drawn in step S103 (the position of the intersection of the perpendicular line and the work route P1) as the restart position R1 for restarting the autonomous work, and stores it. (Step S104).

If it is determined in step S101 that the route on which the tractor 1 was traveling immediately before deviating from the traveling route P is a non-working route P2 (a route in which the direction of the traveling machine body 2 is changed without performing agricultural work), then The restart position setting unit 52 determines whether the position where the tractor 1 stopped is within the work area (step S105).

As shown in the example of FIG. 10, when the stopping position of the tractor 1 is in the non-work area (step S105, No), the restart position setting unit 52 sets an appropriate position on the non-work route P2 as the restart position. (Step S106). As a method of setting the restart position, for example, when there is a straight line part in the non-work path P2 as shown in FIG. 10, it is possible to set the point closest to the stop position in the straight line part as the restart position R1. However, the restart position is not limited to the above method, and the restart position may be determined by other methods.

On the other hand, if the stopping position of the tractor 1 is in the work area (step S105, Yes), as shown in the example of FIG. This means that the tractor 1 has entered the working area by straddling the boundary between the non-working area and the working area. In that case, in order to perform agricultural work evenly on the field (without leaving any uncultivated area), the restart position setting unit 52 sets the restart position setting unit 52 to the downstream end of the deviated non-work route P2 (in other words, The upstream end of the work path P1 that connects on the downstream side is set as the restart position R1. This restart position R1 is located at the boundary between the work area and the non-work area on the travel route P.

After the tractor 1 stops due to a deviation from the route, the user inspects the condition of the tractor 1 in order to investigate the cause of the deviation from the route. At this time, in order to facilitate inspection, the tractor 1 may be moved to an appropriate location in the field, for example.

After that, if the user wishes to resume autonomous driving/autonomous work, he/she gets on the tractor 1 and manually drives the tractor 1 to move it to or near the restart position R1 and then stop it. At this time, when the current position of the tractor 1 is displayed in real time on the display 37 of the wireless communication terminal 46 together with the restart position R1 (preferably, the second range in step S112 in FIG. 8), the user moves the tractor 1 to the restart position R1. This is preferable because it makes it easier to understand how to move it.

No matter which point the restart position R1 is set, the positioning route creation determination unit 53 will wait until the user operates the autonomous driving/autonomous work restart instruction unit 30 to instruct to resume autonomous driving. Wait (step S108 in FIG. 8).

If the user gets off the tractor 1 and instructs to resume autonomous driving by operating the autonomous driving/autonomous work restart instruction unit 30 of the wireless communication terminal 46 (step S108, Yes), the positioning route is The creation determination unit 53 acquires the current position of the tractor 1 (step S109).

Subsequently, the positioning route creation determining unit 53 determines whether the current position of the tractor 1 is within the first range based on the restart position R1 (step S110). Note that the first range in this embodiment is set to a range with a radius of about 2 cm centered on the restart position R1. If the current position of the tractor 1 is within the first range (step S110, Yes), the current position of the tractor 1 is sufficiently close to the restart position R1, so it is necessary to reposition the tractor 1 to the restart position R1. lacking in sex. Therefore, in this case, the alignment route creation determination unit 53 does not instruct the alignment route creation unit 54 to create an alignment route.

Then, the control unit 4 controls the traveling body 2, the working machine 3, etc., to restart autonomous traveling and autonomous work from the current position (step S111), and ends the series of processing.

As a result of the determination in step S110, if the current position of the tractor 1 is not within the first range (step S110, No), the alignment route creation determination unit 53 determines that the current position of the tractor 1 is based on the restart position R1. It is determined whether it is within the second range (step S112). Note that in the second range of the present embodiment, the radius around the restart position R1 is set to be approximately 1/2 of the vehicle width. As a result of the determination in step S112, if the current position of the tractor 1 is not within the second range (step S112, No), the tractor 1 deviates from the traveling route P and remains stopped, and the process proceeds to step S108. return.

If the current position of the tractor 1 is outside the first range and within the second range (step S112, Yes), the current position of the tractor 1 is a little far from the restart position R1, so the positioning is automatically performed to the restart position R1. It is considered desirable to do so. Therefore, the alignment route creation determination unit 53 instructs the alignment route creation unit 54 to create an alignment route. In response to this, the alignment route creation unit 54 creates a series of alignment routes that connect the current position (starting point) of the tractor 1 to the restart position R1 (end point) (step S113).

At this time, for example, as shown in FIG. 12, if the current position of the tractor 1 is located ahead of the restart position R1 in the traveling direction (forward in the traveling direction on the traveling route P), the positioning route creation unit 54 , a positioning route including a route for reversing the tractor 1 is created. In the example of FIG. 12, the created alignment path is drawn with a thick broken line. The positioning route created by the positioning route creation unit 54 is calculated so that when the tractor 1 reaches the end point, the traveling body 2 faces forward in the traveling direction.

On the other hand, as shown in FIG. 13, for example, when the current position of the tractor 1 is located behind the restart position R1 in the traveling direction (backward in the traveling direction on the traveling route P), the positioning route creation unit 54 A positioning route is created that allows the tractor 1 to move forward and reach the restart position R1. The alignment route created by the alignment route creation unit 54 is stored in the storage unit 55.

After the alignment route is created in step S113, the control unit 4 causes the tractor 1 to autonomously travel along the alignment route created in step S113, and the tractor 1 stops at the restart position R1. (Step S114). At this time, in this embodiment, as shown in the example of FIG. A working machine 3 is caused to perform agricultural work while autonomously traveling along a matching route. On the other hand, as shown in the example of FIG. 12, in the case of a positioning route in which the tractor 1 is moved backward while reaching the restart position R1, the positioning of the tractor 1 is performed with the working machine 3 stopped.

Through the above processing, the tractor 1 returns to the midway point (resuming position) on the travel route P, and then the user can resume autonomous driving and autonomous work by performing appropriate processing using the wireless communication terminal 46. can.

In this way, in this embodiment, the position of the tractor 1 after the deviation stop is adjusted to the first position without the user riding on the robot tractor 1 and operating the robot tractor 1 to move it pinpointly to the restart position R1. If it is within one range, autonomous driving and autonomous work can be resumed from that position. Furthermore, if the position of the tractor 1 after the deviation stop is outside the first range and within the second range, a positioning path (see the thick dotted line in FIGS. 12 and 13) is generated and the positioning is performed along this path. The tractor 1 can be automatically operated and aligned to the restart position R1. In this way, it is no longer necessary to precisely align the position of the tractor to the restart position by manual operation as in the past, so advanced driving skills are no longer required and positioning can be easily performed.

In addition, in this embodiment, when the tractor 1 is located in front of the restart position R1 in the traveling direction, the tractor 1 is moved to the restart position R1 by automatically (autonomously) performing backward travel, which is difficult to do with manual operation. can be reached accurately. Therefore, the tractor 1 can be placed at the restart position R1 without making frequent use of turning operations and the like, thereby reducing the risk of excessive damage to the field.

Furthermore, in the present embodiment, if the tractor 1 crosses the boundary between the non-working area and the working area and enters the working area between the time when the tractor 1 deviates from the non-working route P2 and the time when the tractor 1 actually stops, It is possible to automatically move to the restart position R1 set at the boundary between the non-work area and the work area, and resume autonomous work from that position. Therefore, agricultural work can be performed without leaving any unworked areas.

Further, in this embodiment, the restart position R1 is set only when the tractor 1 is stopped based on deviating from the traveling route P. That is, in the case where the tractor 1 has not deviated from the traveling route P but is temporarily stopped or emergency stopped because the user performs an appropriate stop operation on the wireless communication terminal 46, the restart position is Not set. Therefore, the calculation load associated with setting (calculating) the restart position can be reduced.

As described above, the autonomous driving system 99 of this embodiment includes the position information acquisition section 49, the control section 4, and the restart position setting section 52. The position information acquisition unit 49 acquires position information of the tractor (work vehicle) 1. The control unit 4 causes the tractor 1 to autonomously travel along a predetermined travel route P and work autonomously along a predetermined work route P1, and also causes the tractor 1 to perform autonomous work along a predetermined work route P1 based on a deviation of the tractor 1 from the travel route P. to stop. The restart position setting unit 52 sets a restart position R1 for autonomous work by the tractor 1 after the stop. After the stop, if the current position of the tractor 1 is within a first range based on the restart position R1, the control unit 4 can restart the autonomous work of the tractor 1 from the current position of the tractor 1. Further, when the current position of the tractor 1 is outside the first range and within a second range based on the restart position R1, the control unit 4 causes the tractor 1 to autonomously travel from the current position to the restart position R1. After that, autonomous work can be resumed.

Thereby, the autonomous work can be resumed without the user having to drive the tractor 1 to pinpoint the tractor to the restart position R1, and the autonomous work can be easily resumed after the tractor has stopped.

Furthermore, in the autonomous driving system 99 of the present embodiment, the control unit 4 determines that the current position of the tractor 1 after the stop is outside the first range and within the second range from the restart position R1, and that the current position of the tractor 1 after the stop is outside the first range and within the second range from the restart position R1. On the other hand, if the vehicle is ahead in the traveling direction of the travel route P, as shown in FIG. 12, it is possible to cause the tractor 1 to perform autonomous work along the work route P1 after the tractor 1 is moved backward to the restart position R1.

Thereby, when the tractor 1 is located ahead of the restart position R1 in the traveling direction, depending on the orientation of the vehicle body of the tractor 1, it is possible to move backward and reach the restart position R1.

Moreover, the autonomous driving system 99 of this embodiment has the following configuration. That is, as a result of the control unit 4 performing stop control of the tractor 1 based on the deviation of the tractor 1 from the driving route P on the non-working route P2 where the tractor 1 does not perform any work, the tractor 1 is stopped when the tractor 1 performs the work. When the vehicle stops in a working area, the restart position setting unit 52 can set a restart position R1 on the travel route P at the boundary between the working area and the non-working area, as shown in FIG. be. When the restart position R1 is set on the boundary by the restart position setting unit 52, the control unit 4 causes the traveling body 2 to autonomously travel to the restart position R1 on the boundary, and then moves the traveling machine body 2 to the tractor 1 along the work route P1. It is possible to have the robot work autonomously.

As a result, the tractor 1 straddles the boundary between the non-working area and the working area and enters the working area between the time when the stop control of the tractor 1 is performed based on the deviation of the tractor 1 and the time when the tractor 1 actually stops. If the object enters the area, the restart position R1 is set at the boundary between the two areas, so that the work can be performed appropriately.

Further, in the autonomous driving system 99 of the present embodiment, the restart position setting unit 52 sets the restart position R1 when the tractor 1 is stopped by the control unit 4 based on a stop signal when the tractor 1 is located on the travel route P. Not set.

As a result, when it is sufficient to restart autonomous driving/autonomous work on the spot, the restart position R1 is not set, so that processing can be made more efficient.

Although the preferred embodiments of the present invention have been described above, the above configuration can be modified as follows, for example.

In the above embodiment, when the current position of the tractor 1 is behind the restart position R1 in the traveling direction and the positioning is automatically performed from this position to the restart position R1, the tractor 1 is moved to the restart position R1. The farm work is performed using the work machine 3 while autonomously traveling along the alignment route. However, the invention is not necessarily limited to this, and when the tractor 1 is made to travel along the alignment route from the current position to the restart position R1, it may be made to travel (idle run) without performing agricultural work.

Alternatively, when the tractor 1 is driven along the alignment route from the current position to the restart position R1, regardless of the direction in which the current position of the tractor 1 is relative to the restart position R1 in the traveling direction. It is very convenient to run the vehicle while doing agricultural work. In that case, for example, the determination process by the alignment route creation determination unit 53 may be started on the condition that the work machine 3 has touched the ground.

Alternatively, instead of the above, the determination process by the alignment route creation determination unit 53 may be started on the condition that the tractor 1 has stopped for a predetermined time or longer.

In the above embodiment, when the tractor 1 enters the working route and stops after deviating from the non-working route, the vehicle starts from the downstream end of the non-working route P2 that the tractor 1 was traveling on immediately before deviating from the traveling route P. The position of the upstream end of the work route P1 is set as the restart position R1. However, the restart position R1 may be set on the work route P1 and at the boundary between the work area and the non-work area. (No) The restart position R1 may be set at the upstream end or downstream end of another work route P1. In that case, the traveling route P after resuming autonomous work is regenerated so that agricultural work is finally performed on all the work routes P1, P1, ... (for the unworked work route P1). The order in which the operations are performed may be changed as appropriate.

In the above embodiment, both the first range and the second range are circular regions centered on the restart position R1, but the invention is not limited to this. The first range and the second range may be square-shaped regions or elliptical-shaped regions centered on the restart position R1. Further, the restart position R1 does not necessarily have to be located at the center of the first range and/or the second range, and the restart position R1 is located closer to the already worked area of the first range and/or the second range (already agricultural work It may also be arranged (biased to the side where it is applied). Further, the outer periphery of the first range and/or the second range does not necessarily need to be continuous, and may be discontinuous at some locations. FIG. 14 shows an example of setting the first range and the second range other than the examples shown in FIGS. 12 and 13. The hatching in FIG. 14 represents an area outside the first range and within the second range, and when the tractor 1 is placed within this range, the positioning path for automatic positioning is determined. Created.

In the above embodiment, the deviation determination unit 51, the restart position setting unit 52, the alignment route creation determination unit 53, and the alignment route creation unit 54 are provided in the tractor 1, but these components are It is not limited to which of the tractor 1 and the wireless communication terminal 46 is provided. Furthermore, other components may be included in either the tractor 1 or the wireless communication terminal 46.

A device having functions equivalent to the wireless communication terminal 46 (i.e., acquires a field, acquires a work area, acquires a driving route/work route, instructs to start automatic positioning, instructs to restart autonomous driving/autonomous work, etc.) For example, a manned tractor 1 traveling body 2 may be non-removably provided with an operating device capable of operating the tractor 1. In this case, the wireless communication terminal 46 can be omitted.

The traveling route P is a work route (for example, a work route that goes around the non-work area) that performs autonomous work on a non-work area around the work area after all autonomous work in the work area is completed. May be included. In this case, autonomous work by tractor 1 will eventually be performed in the area set as headland and non-cultivated land as described above, but tractor 1 is performing autonomous work in the work area. At this stage, no work is performed on the headland or non-cultivated land, so these areas can be understood as non-work areas.

In the above embodiment, the work vehicle is the robot tractor 1 that autonomously travels without a user on board. However, instead of this, the present invention is applied to a general tractor on which a user rides and works, and the autonomous driving system 99 is activated only when the tractor resumes work after deviating from the traveling route P. It is also possible to perform autonomous driving (automatic driving) using the vehicle.

<Additional notes to the invention>
According to one aspect of the present invention, an autonomous driving system having the following configuration is provided. That is, this autonomous driving system includes a position information acquisition section, a control section, a restart position setting section, and a positioning route creation section. The position information acquisition unit acquires position information of the work vehicle. The control unit causes the work vehicle to perform autonomous work along a predetermined work route while autonomously traveling along a predetermined travel route, and performs the work based on a deviation of the work vehicle from the travel route. Stop the vehicle. The restart position setting unit sets a restart position of the autonomous work of the work vehicle when the work vehicle is stopped by the control unit. The positioning route creation unit generates a positioning route from the stop position of the work vehicle to the restart position. After stopping the work vehicle, the control unit causes the work vehicle to autonomously travel to the restart position along the position alignment route generated by the position alignment route creation unit. It is possible to resume autonomous work.

As a result, the autonomous work can be restarted without the user driving the work vehicle to pinpoint the restart position, and the autonomous work can be easily restarted after stopping.

In the autonomous driving system, if the work vehicle is located ahead of the restart position in the traveling direction of the travel route when the work vehicle is stopped, the control unit moves the work vehicle to the restart position. It is preferable that the work vehicle is allowed to work autonomously along the work route after reversing the work vehicle up to the work route.

As a result, when the work vehicle stops in front of the restart position in the traveling direction due to deviation from the travel route, depending on the orientation of the vehicle body of the work vehicle, it is possible to move backward and reach the restart position.

1 Tractor (work vehicle)
4 Control unit 49 Position information acquisition unit 52 Resuming position setting unit 99 Autonomous driving system P Driving route P1 Working route P2 Non-working route R1 Resume position

Claims (3)

a position information acquisition unit that acquires position information of the work vehicle;
a control unit that causes the work vehicle to autonomously travel along a predetermined travel route and perform autonomous work along the predetermined work route;
a departure determination unit that determines whether the work vehicle has deviated from the travel route based on the position information obtained by the position information acquisition unit;
The deviation determination unit determines that the work vehicle has deviated from the travel route if the position of the work vehicle is outside a deviation determination range based on the travel route;
The control unit stops the work vehicle when the deviation determination unit determines that the work vehicle has deviated from the travel route;
The deviation determination unit includes:
Determining whether the position of the work vehicle is within a margin width narrower than the departure determination width based on the travel route;
If the position of the work vehicle is outside the range of the margin width but within the range of the departure determination width, it is determined that the work vehicle has not deviated from the travel route, and the control unit Continue autonomous driving ,
Utilizing the margin width in processing after the work vehicle is determined to have deviated from the travel route and the work vehicle is stopped;
Autonomous driving system. When the work vehicle is determined to have deviated from the travel route and the work vehicle is stopped, the control unit may control the control unit to control the work vehicle to a position exceeding the margin where the work vehicle has deviated from the range of the margin width immediately before. causing the work vehicle to resume autonomous work from a restart position set based on the
The autonomous driving system according to claim 1 . The restart position is set based on the margin excess position when it is determined that the work vehicle deviates from the work route among the work route and non-work route included in the travel route. Only,
The autonomous driving system according to claim 2 .