Autonomous driving method, work vehicle, and autonomous driving system

1 . An autonomous driving method of a work vehicle that executes an autonomous travel based on a preset travel route, the autonomous driving method comprising:

an operating step for operating an autonomous travel allowance operation member that allows for the autonomous travel;

a travel route creation step for creating the travel route having an allowance operation member-nonrequiring route and an allowance operation member-requiring route; and

an autonomous travel control step for controlling the autonomous travel which is based on the travel route,

wherein

the autonomous travel control step, in the allowance operation member-nonrequiring route, allows and executes the autonomous travel regardless of the operation of the autonomous travel allowance operation member, and

the autonomous travel control step, in the allowance operation member-requiring route, determines whether or not the autonomous travel allowance operation member is being operated, and allows and executes the autonomous travel while operating the autonomous travel allowance operation member, and does not allow nor execute the autonomous travel while the autonomous travel allowance operation member is not operated.

2 . The autonomous driving method according to claim 1 , wherein the travel route creation step sets, as the allowance operation member-nonrequiring route, a forward route included in the travel route.

3 . The autonomous driving method according to claim 1 , wherein

the travel route creation step sets, as the allowance operation member-requiring route, a backward route included in the travel route.

4 . The autonomous driving method according to claim 1 , wherein

the travel route creation step sets, as the allowance operation member-requiring route, a turn route included in the travel route.

5 . The autonomous driving method according to claim 1 , wherein

the autonomous travel control step, in the allowance operation member-requiring route, executes the autonomous travel while the autonomous travel allowance operation member is being operated, and, stops the autonomous travel when the operation of the autonomous travel allowance operation member is canceled.

6 . The autonomous driving method according to claim 1 , wherein

at the time of switching from the allowed operation member-nonrequiring route, in which the autonomous travel is being executed, to the allowance operation member-requiring route, the autonomous travel control step, if the autonomous travel allowance operation member, in the allowed operation member-nonrequiring route, is operated in a given preparation section immediately before the allowance operation member-requiring route, the autonomous travel is continued in the allowed operation member-nonrequiring route and the allowance operation member-requiring route without stopping the autonomous travel and shifts to the allowance operation member-requiring route, and,

if the autonomous travel allowance operation member is not operated in the given preparation section, stops the autonomous travel before shifting to the allowance operation member-requiring route.

7 . The autonomous driving method according to claim 1 , further comprising:

a display step that displays the travel route, wherein

the display step displays the allowance operation member-nonrequiring route and the allowance operation member-requiring route which are in the travel route, in different display modes from each other.

8 . The autonomous driving method according to claim 1 , further comprising:

a setting step capable of setting, for the travel route, the allowance operation member-nonrequiring route and the allowance operation member-requiring route.

9 . A work vehicle that executes an autonomous travel based on a preset travel route, the work vehicle comprising:

an autonomous travel allowance operation member for allowing the autonomous travel;

a travel route creating part for creating the travel route having an allowance operation member-nonrequiring route and an allowance operation member-requiring route; and

an autonomous travel control part for controlling the autonomous travel which is based on the travel route,

wherein

the autonomous travel control part, in the allowance operation member-nonrequiring route, allows and executes the autonomous travel regardless of the operation of the autonomous travel allowance operation member, and

the autonomous travel control part, in the allowance operation member-requiring route, determines whether or not the autonomous travel allowance operation member is being operated, and allows and executes the autonomous travel while operating the autonomous travel allowance operation member, and does not allow nor execute the autonomous travel while the autonomous travel allowance operation member is not operated.

10 . An autonomous driving system provided with a work vehicle that executes an autonomous travel based on a preset travel route, the autonomous driving system comprising:

an autonomous travel allowance operation member for allowing the autonomous travel;

a travel route creating part for creating the travel route having an allowance operation member-nonrequiring route and an allowance operation member-requiring route; and

an autonomous travel control part for controlling the autonomous travel which is based on the travel route,

wherein

the autonomous travel control part, in the allowance operation member-nonrequiring route, allows and executes the autonomous travel regardless of the operation of the autonomous travel allowance operation member, and

the autonomous travel control part, in the allowance operation member-requiring route, determines whether or not the autonomous travel allowance operation member is being operated, and allows and executes the autonomous travel while operating the autonomous travel allowance operation member, and does not allow nor execute the autonomous travel while the autonomous travel allowance operation member is not operated.