JP6945026B2 - Travel route identification system - Google Patents

Description

The present invention relates to a traveling route specifying system for specifying a planned traveling route for starting autonomous traveling when the work vehicle is autonomously traveled.

The above-mentioned traveling route specifying system is used in an autonomous traveling system for autonomously traveling a work vehicle (see, for example, Patent Document 1). In the system described in Patent Document 1, a planned travel route including a plurality of work routes is generated in the work area, and the work vehicle is autonomously traveled along the planned travel route. Then, when starting autonomous driving, since the start route for starting autonomous driving is preset among the plurality of work routes, the work vehicle is moved to the start position of the start route and used as the start route. Autonomous driving is started by autonomously driving the work vehicle along the line.

International Publication No. 2015/119265

In the system described in Patent Document 1, since the start route for starting autonomous driving is preset among the plurality of work routes, for example, even if the current position of the work vehicle is a position away from the start route. , The work vehicle must be moved to the start position of the start route, and it may take a long time to start autonomous driving.

Further, in the system described in Patent Document 1, since autonomous driving cannot be started from a work route other than a preset start route, there is no flexibility for the start route for starting autonomous driving, and other work routes are not available. I could not meet the request to start autonomous driving from.

In view of this situation, a main object of the present invention is to provide a traveling route specifying system capable of flexibly determining a starting route for starting autonomous driving.

The first feature configuration of the present invention includes a route generation unit that generates a planned travel route including a plurality of work routes that autonomously travel the work vehicle.
A control unit capable of autonomously driving the work vehicle along each planned travel route, and
An information acquisition unit that acquires the position information and direction information of the work vehicle, and
The work vehicle is provided with a specific unit for specifying an autonomous driving candidate route capable of autonomous driving.
The specific unit sets a candidate identification area based on the position information and the direction information of the work vehicle, and among the plurality of work routes, the work route included in the candidate identification area is used as the autonomous driving candidate route. The feature is that it can be specified.

According to this configuration, the specific unit sets the candidate identification area based on the position information and the direction information of the work vehicle, and therefore, for example, autonomous driving is started in an area close to the work vehicle in the traveling direction of the work vehicle. An area including a work route suitable for the above can be set as a candidate identification area. Since the specific unit can specify the work route included in the candidate identification area as an autonomous driving candidate route among a plurality of work routes, it is autonomous with the work route suitable for starting autonomous driving included. It is possible to specify a travel candidate route. As a result, the start route for starting autonomous driving can be determined from the autonomous driving candidate route. Therefore, for example, the autonomous driving can be started with the work route close to the work vehicle in the traveling direction of the work vehicle as the start route. can. In this way, the start route for starting autonomous driving can be suitably determined based on the position information and the directional information of the work vehicle. Therefore, the start route can be flexibly determined and the determined start route can be used. Autonomous driving can be started.

The second characteristic configuration of the present invention is characterized in that the specific unit does not specify a work route that meets the exclusion condition as the autonomous driving candidate route even if the work route is included in the candidate identification area. At the point.

According to this configuration, the specific unit does not specify all the work routes included in the candidate identification area as autonomous driving candidate routes, but even if the work routes are included in the candidate identification area, the exclusion condition is set. The matching work route is not specified as an autonomous driving candidate route. As a result, the candidate identification area includes a work route that is not preferable as a work route for starting autonomous driving due to, for example, an obstacle existing between the work vehicle and the start position of the work route. However, the specific unit can specify the autonomous driving candidate route by excluding the work route, and can appropriately specify the work route suitable for starting the autonomous driving as the autonomous driving candidate route.

In the third feature configuration of the present invention, when the specific unit does not have a work path included in the candidate identification area among the plurality of work paths, the position information of the work vehicle and the start end of each work path are provided. The point is that the autonomous driving candidate route is specified based on the angle formed by the first straight line specified from the position information and the second straight line along the work route.

According to this configuration, the specific unit can specify the autonomous driving candidate route based on the angle formed by the first straight line and the second straight line while using the position information of the work vehicle, so that the identification unit can be used as a candidate identification area. Even if the included work route does not exist, the autonomous driving candidate route can be appropriately specified.

The present invention includes a specific area setting unit that sets a specific area for autonomously traveling the work vehicle.
The specific region has a first region in which the planned travel route is generated and a second region in which the scheduled travel route is not generated.
When the work vehicle is located in the second region, the identification unit does not specify the autonomous driving candidate route based on the angle formed by the first straight line and the second straight line, but does not specify the candidate identification region. It is preferable to continue to identify the autonomous driving candidate route based on the above.

According to this configuration, since the planned traveling route is not generated in the second region, when the work vehicle is located in the second region, the specific unit is autonomous based on the angle formed by the first straight line and the second straight line. When the travel candidate route is specified, there is a possibility that a work route that is not suitable for starting autonomous driving is specified as an autonomous driving candidate route. Therefore, when the work vehicle is located in the second region, the specific unit does not specify the autonomous driving candidate route based on the angle formed by the first straight line and the second straight line, and the work route is set in the candidate identification region. Until it is included, the identification of the work route based on the candidate identification area is continued. As a result, when the work route is included in the candidate identification area, the specific unit can specify the work route as an autonomous driving candidate route, and starts autonomous driving even when the work vehicle is located in the second area. A work route suitable for this can be appropriately specified as an autonomous driving candidate route.

The figure which shows the schematic structure of the autonomous driving system Block diagram showing the schematic configuration of the autonomous driving system The figure which shows an example of the autonomous driving route (planned driving route) Schematic diagram showing the state when identifying an autonomous driving candidate route Schematic diagram showing the state when identifying an autonomous driving candidate route Schematic diagram showing the state when identifying an autonomous driving candidate route

An embodiment of an autonomous driving system using the traveling route specifying system according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, this autonomous driving system can instruct a tractor 1 as a work vehicle that autonomously travels along an autonomous driving route (corresponding to a planned traveling route) and various information to the tractor 1. A wireless communication terminal 2 is provided. Then, in this embodiment, the reference station 4 for acquiring the position information of the tractor 1 is provided.

In FIG. 1, the tractor 1 is illustrated as a work vehicle, but in addition to the tractor, a walking type work vehicle can be applied in addition to a passenger type work vehicle such as a rice transplanter, a combine harvester, a civil engineering / construction work device, and a snowplow.

As shown in FIG. 2, the tractor 1 is provided with a vehicle-side wireless communication unit 14, the wireless communication terminal 2 is provided with a terminal-side wireless communication unit 21, and the reference station 4 is provided with a reference station-side wireless communication unit 41. ing. Various information can be transmitted and received between the tractor 1 and the wireless communication terminal 2 by wireless communication between the vehicle side wireless communication unit 14 and the terminal side wireless communication unit 21, and the vehicle side wireless communication unit 14 and the reference station. Various information can be transmitted and received between the tractor 1 and the reference station 4 by wireless communication with the side wireless communication unit 41. The wireless communication terminal 2 and the reference station 4 are configured to be able to transmit and receive various types of information via the tractor 1. Further, the wireless communication terminal 2 and the reference station 4 can directly transmit and receive various information without going through the tractor 1 by wireless communication between the terminal side wireless communication unit 21 and the reference station side wireless communication unit 41. You can also. The frequency band used for wireless communication between the wireless communication units may be a common frequency band or may be a different frequency band from each other.

As shown in FIG. 2, the tractor 1 includes a positioning antenna 11, a vehicle-side control unit 12 (corresponding to a control unit), an information acquisition unit 13, a vehicle-side wireless communication unit 14, and an inertial measurement unit 15 (for example, 3). A device having a shaft gyro and an accelerometer in three directions) and the like are provided. The information acquisition unit 13 can acquire the current position information of the tractor 1 based on the positioning information and the like received by the positioning antenna 11, and is based on the measurement information and the like measured by the inertial measurement unit 15. , The attitude information of the tractor 1 and the direction information of the traveling direction can be acquired. The vehicle-side control unit 12 is provided in the tractor 1 of the governor device, the transmission device, the steering device, and the like (not shown) while the information acquisition unit 13 acquires its own current position information (current position of the tractor 1). The tractor 1 is configured to be able to run autonomously by controlling the device of the above. Further, the tractor 1 is provided with a storage unit (not shown), and various types of information are stored in this storage unit.

As shown in FIG. 1, the positioning antenna 11 is configured to receive, for example, a signal from a positioning satellite 3 constituting a satellite positioning system (GNSS). The positioning antenna 11 is arranged on, for example, the upper surface of the roof of the cabin of the tractor 1.

As a positioning method using a satellite positioning system, as shown in FIG. 1, a reference station 4 installed at a predetermined reference point is provided, and satellite positioning of the tractor 1 (mobile station) is performed based on positioning correction information from the reference station 4. It is possible to apply a positioning method for obtaining the current position of the tractor 1 by correcting the information. For example, various positioning methods such as DGPS (Differential GPS Positioning) and RTK Positioning (Real-time Kinematic Positioning) can be applied. Incidentally, as for the positioning method, it is also possible to use independent positioning without providing the reference station 4.

In this embodiment, for example, since RTK positioning is applied, as shown in FIGS. 1 and 2, in addition to providing the positioning antenna 11 on the tractor 1 on the mobile station side, the reference station 4 is provided. Has been done. The position information of the reference point, which is the installation position of the reference station 4, is set and grasped in advance. The reference station 4 is arranged at a position (reference point) that does not interfere with the running of the tractor 1, such as around the field. The reference station 4 is provided with a reference station side wireless communication unit 41 and a reference station positioning antenna 42.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 3 is measured by both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1 on the mobile station side for which position information is to be obtained. doing. The reference station 4 generates positioning correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 3 or every time the setting cycle elapses, and the reference station side radio Positioning correction information is transmitted from the communication unit 41 to the vehicle-side wireless communication unit 14 of the tractor 1. The information acquisition unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 by using the positioning correction information transmitted from the reference station 4, and obtains the current position information of the tractor 1. The information acquisition unit 13 requests, for example, latitude information / longitude information as the current position information of the tractor 1.

The wireless communication terminal 2 is composed of, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel. By operating the touch panel, various information can also be input. The wireless communication terminal 2 can be carried and used by the user outside the tractor 1, and can also be used by being attached to the side of the driver's seat of the tractor 1.

As shown in FIG. 2, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, a route generation unit 22, a specific unit 23, a specific area setting unit 24, and the like. The route generation unit 22 is configured to generate an autonomous travel route in which the tractor 1 autonomously travels. Further, the wireless communication terminal 2 is provided with a storage unit (not shown), and various information such as information registered by the user is stored in this storage unit.

When the tractor 1 is autonomously driven, the user operates the touch panel or the like of the wireless communication terminal 2 to input various information, and the route generation unit 22 of the wireless communication terminal 2 inputs the various input information or the like. Based on the above, an autonomous travel path in which the tractor 1 autonomously travels is generated. The route generation unit 22 specifies various information related to the travel route, such as the start position, the end position, the travel direction, and the shape of the route, and generates an autonomous travel route. For example, as shown in FIG. 3, as an autonomous traveling route, the route generation unit 22 has a work path K1 for performing work such as tilling while autonomously traveling the tractor 1, and a tractor 1 from the work path K1 to the next work path K1. The turning path K2 and the turning path K2 are generated. Then, the autonomous traveling paths K1 and K2 generated by the route generation unit 22 are configured to be displayable on the touch panel of the wireless communication terminal 2 as shown in FIG. The autonomous traveling route shown in FIG. 3 is merely an example, and what kind of autonomous traveling route the route generation unit 22 generates can be appropriately changed.

As shown in FIG. 3, when the route generation unit 22 generates the autonomous traveling paths K1 and K2, the specific area setting unit 24 first sets a specific area H (for example, a field) for autonomously traveling the tractor 1. There is. The specific region H has a first region R1 in which autonomous traveling routes K1 and K2 are generated and a second region R2 in which autonomous traveling routes K1 and K2 are not generated, and the first region R1 performs work. It has a work area R1a and a non-work area R1b where no work is performed. The route generation unit 22 generates a work path K1 for the work area R1a of the first area R1 and generates a turning path K2 for the non-work area R1b of the first area R1. The work path K1 is a linear path that autonomously travels from one end side to the other end side in the first region R1, and this linear route extends over the entire first region R1 to a specific region H (field). ) Are generated so as to be adjacent to each other in the width direction. The turning path K2 is generated as a path for turning the tractor 1 by connecting the ends of two working paths K1 arranged in the width direction of the specific region H (field) on both ends in the first region R1. Has been done.

As described above, since the route generation unit 22 generates the autonomous traveling paths K1 and K2, the autonomous traveling can be started with the work path K1 of any one of the plurality of work paths K1 as the start route. Regarding the start route, which work route K1 among the plurality of work routes K1 is not set in advance, and one work route K1 from the plurality of work routes K1 is determined as the start route. I am trying to start autonomous driving. Incidentally, the autonomous traveling route that can be determined as the starting route is only the working route K1 among the autonomous traveling routes K1 and K2.

When determining the start route, first, before the tractor 1 starts the autonomous driving, the specific unit 23 can autonomously drive the tractor 1 among the plurality of work routes K1. The candidate route is specified. As shown in FIGS. 3 and 4, the identification unit 23 sets the candidate identification area P based on the position information and the orientation information of the tractor 1, and is the same as the traveling direction of the tractor 1 among the plurality of work paths K1. The work path K1 that is the work path K1 in the travel direction and is included in the candidate identification area P is specified as the autonomous travel candidate route K3.

Explaining the setting of the candidate identification area P, as shown in FIG. 3, the right straight line T2 obtained by rotating the traveling straight line T1 extending in the traveling direction of the tractor 1 to the left and right by the rotation angle θ with respect to the current position of the tractor 1. And the left straight line T3. Then, the region between the right straight line T2 and the left straight line T3 and the region in the range from the current position of the tractor 1 to the set distance L is set as the candidate identification region P. In this way, the quadrangular candidate identification area P that expands in the traveling direction of the tractor 1 with reference to the current position of the tractor 1 is set. The candidate identification area P is not limited to the above-mentioned rectangular area, and various shapes such as a triangular shape and an arc shape can be applied, and the traveling direction of the tractor 1 can be applied according to various conditions. The candidate identification area P can be set so as not to include the area in the opposite direction to the above. Further, the candidate identification area P can be set to a certain area, but can also be changed and set according to the situation of the tractor 1, such as the current position of the tractor 1.

Since the identification unit 23 specifies the work path K1 in the same travel direction as the traveling direction of the tractor 1 and the work path K1 included in the candidate identification area P as the autonomous travel candidate route K3, FIGS. 3 and 3 and FIG. As shown in 4, it is specified that the work path K1 is in the same traveling direction as the traveling direction of the tractor 1 and that the candidate identification area P includes a plurality of (for example, two) work paths K1. The unit 23 specifies the plurality of work routes K1 as autonomous traveling candidate routes K3. Regarding the autonomous driving candidate route K3 specified by the specific unit 23, which work route K1 is specified as the autonomous driving candidate route K3 among the plurality of work routes K1 as shown by the thick line in FIG. Is identifiable and can be displayed on the touch panel of the wireless communication terminal 2.

Here, the identification unit 23 may specify the work path K1 in the same travel direction as the traveling direction of the tractor 1 and the work path K1 included in the candidate identification area P as the autonomous travel candidate route K3. However, as shown in FIG. 5, even if the work path K1 is in the same traveling direction as the traveling direction of the tractor 1 and is included in the candidate identification area P, the work satisfying the exclusion condition. Route K1 is not specified as an autonomous driving candidate route K3. The exclusion conditions are the following (1) to (4). Incidentally, FIG. 5 shows a case where the exclusion condition specified in (1) below is satisfied.

(1) As shown in FIG. 5, the work path K1 in which the out-of-field region W1 exists between the current position of the tractor 1 and the start position of the work path K1 meets the exclusion condition. Further, as shown in FIG. 5, when there is a work path K1 having an intersection with the right straight line T2 and the left straight line T3 in the candidate identification region P, the right straight line T2 or the left straight line T3 is present from the current position of the tractor 1. If there is an obstacle W2 between the intersection of the work path K1 and the work path K1, the work path K1 meets the exclusion condition. Incidentally, in FIG. 5, the third work path K1 from the left side is included in the candidate identification area P, but the out-of-field area W1 is located between the start position of the work path K1 and the current position of the tractor 1. Existing. Further, in FIG. 5, there is an intersection of the fifth work path K1 from the left side and the right straight line T2, but an obstacle W2 exists between the current position of the tractor 1 and the intersection.
(2) The work path K1 having a low priority determined based on the distance from the current position of the tractor 1 to the starting point position or the intersection with the right straight line T2 and the left straight line T3 meets the exclusion condition. As for the priority, the highest priority is set in order from the work path K1 in which the distance from the current position of the tractor 1 to the start point position or the intersection with the right straight line T2 and the left straight line T3 is short, up to the upper limit. A low priority is set for the work paths K1 that exceed the number.
(3) The work path K1 in which the distance from the current position of the tractor 1 to the intersection with the right straight line T2 or the left straight line T3 is larger than the maximum set distance satisfies the exclusion condition. Further, it can be said that the work path K1 in which the distance from the current position of the tractor 1 to the start point position is larger than the maximum set distance satisfies the exclusion condition.
(4) The autonomous driving has already been performed, and the work route K1 that has already been worked meets the exclusion condition. Incidentally, as shown in the gray part in FIG. 6, the wireless communication terminal 2 grasps which work path K1 among the plurality of work paths K1 has been worked, and as shown in FIG. It is configured so that it can be displayed on the touch panel in an identifiable state by painting the completed work path K1 or the like.

The exclusion condition can be set as appropriate, and for example, one condition or a plurality of conditions can be selected from the above (1) to (4). Further, as conditions other than the above (1) to (4), for example, as shown in FIG. 3, a right straight line T2 or a left straight line T3 and a straight line V2 along the work path K1 (corresponding to the second straight line) It can also be said that the work path K1 in which the angle α formed by the above exceeds a predetermined angle satisfies the exclusion condition. Here, the predetermined angle can be set to be smaller than the rotation angle θ which is a reference when setting the right side straight line T2 and the left side straight line T3, for example.

The specific unit 23 is a work path K1 in the same traveling direction as the traveling direction of the tractor 1 among the plurality of work paths K1, and the work path K1 included in the candidate identification area P does not exist. As shown in 6, the first straight line V1 specified from the position information of the tractor 1 (position information of the tractor 1 located on the left side in FIG. 6) and the start position information of each work path K1 and the work path K1 The autonomous travel candidate route K3 is specified based on the angle β formed by the second straight line V2 along the line. If there is a work path K1 in which the angle β formed by the first straight line V1 and the second straight line V2 is a predetermined angle (for example, 90 degrees) or more, the identification unit 23 identifies the work path K1 as an autonomous driving candidate path K3. doing.

As described above, when the tractor 1 is located in the first region R1 (see FIGS. 3 and 4), the identification unit 23 specifies the autonomous driving candidate route K3 based on the candidate identification region P, which is a normal identification process. Is continuously performed for a predetermined time. In the normal identification process, the identification unit 23 is a work path K1 in the same traveling direction as the traveling direction of the tractor 1, and is included in the candidate identification area P, and there is a work path K1 that does not meet the exclusion condition. Then, the work route K1 is specified as the autonomous driving candidate route K3. Then, even if the normal identification process is continued for a predetermined time, if the work path K1 included in the candidate identification area P does not exist in the work path K1 in the same traveling direction as the traveling direction of the tractor 1, the identification unit 23 , As shown in FIG. 6, the start end specifying process for specifying the autonomous driving candidate route K3 is performed based on the angle β formed by the first straight line V1 and the second straight line V2. If there is a work path K1 in which the angle β formed by the first straight line V1 and the second straight line V2 is a predetermined angle (for example, 90 degrees) or more in the start end identification process, the identification unit 23 autonomously travels on the work path K1. It is specified as a candidate route K3.

Here, when the specific unit 23 performs the start point identification process, the work path K1 included in the candidate identification area P among the work paths K1 in the same traveling direction as the traveling direction of the tractor 1 even if the normal identification process is performed. Not only when there is no In this way, the identification unit 23 may perform the start-end identification process depending on which region of the field H the current position of the tractor 1 is located.

Further, as shown by the tractor 1 on the right side in FIG. 6, when the tractor 1 is located in the second region R2, the specific portion 23 is set to the angle β formed by the first straight line V1 and the second straight line V2. The autonomous driving candidate route K3 based on the autonomous driving candidate route K3 is not specified, and the autonomous driving candidate route K3 based on the candidate identification area P is continued. As a result, when the tractor 1 is located in the second region R2, the identification unit 23 normally performs only the identification process, is the work path K1 in the same traveling direction as the traveling direction of the tractor 1, and is a candidate identification region. Normally, the specific process is continued until there is a work path K1 that is included in P and does not meet the exclusion condition.

When the autonomous driving candidate route K3 is specified by the specific unit 23 in this way, the wireless communication terminal 2 transmits the candidate route information regarding the autonomous driving candidate route K3 specified by the specific unit 23 to the tractor 1. When the vehicle-side control unit 12 of the tractor 1 acquires the candidate route information by transmission from the wireless communication terminal 2, it confirms whether or not the autonomous driving start condition is satisfied. When the vehicle side control unit 12 satisfies the following four conditions (1), (2), (3) or (4), (5) among the following (1) to (5), the autonomous driving start condition Is satisfied, and the start route for starting autonomous driving is determined from the autonomous driving candidate routes K3. By the way, the conditions (1), (2), and (5) are conditions for specifying the start route from the autonomous driving candidate routes K3, and even if there are a plurality of autonomous driving candidate routes K3, One autonomous driving candidate route K3 will be determined as the starting route.

(1) The lateral deviation between the current position of the tractor 1 and the autonomous driving candidate route K3 is within a predetermined distance (for example, ± 100 cm).
(2) The directional deviation between the direction of travel of the tractor 1 and the direction of the autonomous driving candidate route K3 is within a predetermined angle (for example, ± 15 deg).
(3) When the current position of the tractor 1 is the working area R1a (see FIG. 3), the distance from the current position of the tractor 1 to the non-working area R1b (see FIG. 3) is a predetermined distance (for example, 10 m) or more. ..
(4) When the current position of the tractor 1 is the non-working area R1b (see FIG. 3), the distance from the current position of the tractor 1 to the working area R1a (see FIG. 3) is within a predetermined distance (for example, 5 m). ..
(5) The state in which the autonomous driving candidate routes K3 satisfying the above (1) and (2) are the same continues for a predetermined time (for example, 1 second).

When the autonomous driving start condition is satisfied, the vehicle-side control unit 12 transmits the autonomous driving permission information indicating which specific route the autonomous driving start route is to the wireless communication terminal 2. As a result, the wireless communication terminal 2 is in a state where it is possible to display on the touch panel which specific route the start route is among the autonomous driving candidate routes K3 so as to be able to identify and instruct the start of autonomous driving.

In the wireless communication terminal 2, when the user operates the touch panel to instruct the start of autonomous driving, the wireless communication terminal 2 transmits the start instruction of autonomous driving to the tractor 1. As a result, in the tractor 1, the vehicle-side control unit 12 receives an instruction to start autonomous driving, and the information acquisition unit 13 acquires its own current position information (current position of the tractor 1) and sets the start route. The tractor 1 is autonomously driven along the line, and the autonomous traveling is started.

Here, in order to start autonomous driving, it is necessary for the vehicle side control unit 12 to acquire the start route information regarding the start route, and therefore the acquisition of the start route information will be described.

The vehicle-side control unit 12 acquires candidate route information by transmission from the wireless communication terminal 2 before confirming whether or not the autonomous driving start condition is satisfied. Since the start route for starting the autonomous driving is determined from the autonomous driving candidate route K3, the candidate route information includes the start route information regarding the start route for starting the autonomous driving. Therefore, the vehicle side control unit 12 has acquired the start route information by acquiring the candidate route information. As a result, the vehicle-side control unit 12 of the tractor 1 can acquire the start route information without transmitting the start route information from the wireless communication terminal 2 to the tractor 1.

Further, regarding the acquisition of the start route information by the vehicle side control unit 12, the wireless communication terminal 2 can acquire the start route information by transmitting the start route information from the wireless communication terminal 2 to the tractor 1. In this case, since the wireless communication terminal 2 can specify which autonomous driving candidate route K3 is the starting route for starting autonomous driving based on the autonomous driving permission information, the wireless communication terminal 2 can identify the starting route. Information can be transmitted to the tractor 1, and the vehicle-side control unit 12 can acquire the start route information by transmitting the start route information.

In this way, after the autonomous driving is started, the wireless communication terminal 2 transmits the route information regarding the autonomous driving route to the tractor 1 in response to the request from the tractor 1 side. As a result, the vehicle-side control unit 12 can acquire the route information regarding the autonomous traveling route in which the tractor 1 autonomously travels, and the information acquisition unit 13 obtains its own current position information (based on the route information). While acquiring the current position of the tractor 1), the tractor 1 is autonomously driven along the autonomous driving route.

[Another Embodiment]
(1) In the above embodiment, when the tractor 1 is located in the first region R1, the specific unit 23 does not have a work path K1 included in the candidate identification region P among the plurality of work paths K1. , The autonomous driving candidate path K3 is specified based on the angle β formed by the first straight line V1 and the second straight line V2. It is also possible to continue specifying the autonomous driving candidate route K3 based on the candidate identification area P without specifying the autonomous driving candidate route K3 based on the angle β formed by the second straight line V2.

(2) In the above embodiment, an example in which the wireless communication terminal 2 is provided with the route generation unit 22, the specific unit 23, and the specific area setting unit 24 is shown. For example, the route generation unit 22, the specific unit 23, and the specific area setting unit 24 are provided. The specific area setting unit 24 can be provided in the vehicle-side control unit 12 of the tractor 1, or can be provided in an external management device or the like. Therefore, it is possible to appropriately change what kind of device the route generation unit 22, the specific unit 23, and the specific area setting unit 24 are provided with.

1 Tractor (working vehicle)
12 Vehicle side control unit (control unit)
13 Information acquisition unit 14 Vehicle side wireless communication unit 22 Route generation unit 23 Specific unit 24 Specific area setting unit H Specific area (field)
K1 work route (planned travel route)
K2 turning route (planned driving route)
K3 Autonomous driving candidate route R1 1st region R2 2nd region P Candidate identification region V1 1st straight line V2 2nd straight line β Angle formed by the 1st straight line and the 2nd straight line

Claims (3)

A route generator that generates a planned travel route that includes a plurality of work routes that autonomously drive a work vehicle,
A control unit capable of autonomously driving the work vehicle along each planned travel route, and
An information acquisition unit that acquires the position information of the work vehicle, and
The work vehicle is provided with a specific unit for specifying an autonomous driving candidate route capable of autonomous driving.
The specifying unit on the basis of the position information of the work vehicle to set the candidate specific area, among the plurality of working paths included in the candidate specific area, from the current position of the previous SL work vehicle, the work path A travel route characterized in that an upper limit number of work routes can be specified as the autonomous travel candidate routes in order from a work route having a short distance to a start point position or an intersection with a straight line on the right side and a straight line on the left side of the candidate identification area. Specific system. A route generator that generates a planned travel route that includes a plurality of work routes that autonomously drive a work vehicle,
A control unit capable of autonomously driving the work vehicle along each planned travel route, and
An information acquisition unit that acquires the position information of the work vehicle, and
The work vehicle is provided with a specific unit for specifying an autonomous driving candidate route capable of autonomous driving.
The specific unit sets a candidate identification area based on the position information of the work vehicle, and among the plurality of work routes, the work route included in the candidate identification area can be specified as the autonomous driving candidate route. There,
The first specifying unit is identified from the position information of the work vehicle and the start position information of each work path when the work path included in the candidate identification area does not exist among the plurality of work paths. A travel route identification system characterized in that a work route in which an angle formed by a straight line and a second straight line along the work route is equal to or greater than a predetermined angle can be specified as the autonomous travel candidate route. The travel route identification system according to claim 1 or 2, wherein the shape of the candidate identification region includes a polygonal shape.

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