Travel control system
A travel control system includes a permission unit that permits outermost periphery automatic traveling if predetermined permission conditions are satisfied. The permission conditions include a first condition and a second condition. The first condition is that a reference value corresponding to a working width W 1 of a work device 30 is larger than a lateral width W 2 of the work device. The second condition is that the reference value is larger than a threshold value determined by a threshold value determination unit. The threshold value determination unit determines the threshold value based on a reference distance D 1 between a front end position of a work vehicle 1 and a reference position SP at which the work device 30 is switched from a working state to a non-working state.
1. A travel control system that controls automatic travel of a work vehicle that includes a work device, wherein:
the work vehicle is configured to perform outermost periphery traveling by automatic travel, and the outermost periphery traveling is work traveling performed along an outer shape of an agricultural field in an outermost peripheral region of the agricultural field, and
the outermost periphery traveling includes a first traveling for traveling in a first direction while driving the work device, a second traveling for traveling in a second direction while driving the work device, and a direction change operation that is performed between the first traveling and the second traveling and is performed to change a direction of the work vehicle from the first direction to the second direction,
the travel control system comprising a microcomputer comprising:
a permission unit configured to permit outermost periphery automatic traveling, which is the outermost periphery traveling performed by automatic travel, in response to a first predetermined permission condition and a second predetermined permission condition being satisfied;
a prohibition unit configured to prohibit the outermost periphery automatic traveling in response to the permission unit not permitting the outermost periphery automatic traveling; and
a threshold value determination unit, and
wherein:
the first predetermined permission condition is that a reference value corresponding to a working width of the work device is larger than a lateral width of the work device,
the second predetermined permission condition is that the reference value is larger than a threshold value determined by the threshold value determination unit, and
the threshold value determination unit is configured to determine the threshold value based on a reference distance between a front end position of the work vehicle and a reference position at which the work device is switched from a working state to a non-working state.
2. The travel control system according to claim 1 ,
wherein the work vehicle comprises a sensor configured to detect an obstacle in front of a body of the work vehicle, and
wherein the threshold value determination unit determines the threshold value based also on a detection range of the sensor.
3. The travel control system according to claim 2 , wherein:
the sensor is switchable between an enabled state and a disabled state,
in response to the sensor being in the enabled state, the threshold value determination unit determines the threshold value based also on the detection range of the sensor, and
in response to the sensor being in the disabled state, the threshold value determination unit determines the threshold value without using the detection range of the sensor.
4. The travel control system according to claim 1 ,
wherein the threshold value determination unit determines the threshold value based also on a turning radius of the work vehicle.
5. The travel control system according to claim 2 ,
wherein the threshold value determination unit determines the threshold value based also on a turning radius of the work vehicle.
6. The travel control system according to claim 3 ,
wherein the threshold value determination unit determines the threshold value based also on a turning radius of the work vehicle.
7. The travel control system according to claim 1 ,
wherein the work vehicle is configured to switch a drive mode of a travel device employed during turning, and
wherein the threshold value determination unit determines the threshold value based also on the drive mode.
8. The travel control system according to claim 2 ,
wherein the work vehicle is configured to switch a drive mode of a travel device employed during turning, and
wherein the threshold value determination unit determines the threshold value based also on the drive mode.
9. The travel control system according to claim 3 ,
wherein the work vehicle is configured to switch a drive mode of a travel device employed during turning, and
wherein the threshold value determination unit determines the threshold value based also on the drive mode.
10. The travel control system according to claim 4 ,
wherein the work vehicle is configured to switch a drive mode of a travel device employed during turning, and
wherein the threshold value determination unit determines the threshold value based also on the drive mode.
11. The travel control system according to claim 5 ,
wherein the work vehicle is configured to switch a drive mode of a travel device employed during turning, and
wherein the threshold value determination unit determines the threshold value based also on the drive mode.
12. The travel control system according to claim 6 ,
wherein the work vehicle is configured to switch a drive mode of a travel device employed during turning, and
wherein the threshold value determination unit determines the threshold value based also on the drive mode.
13. The travel control system according to claim 1 , wherein the microcomputer further comprises:
an overlap width determination unit configured to determine an overlap width that is a width of an overlap portion of a region where work is performed by the first traveling during the outermost periphery automatic traveling and a region where work is performed by the second traveling during the outermost periphery automatic traveling; and
a reference value determination unit configured to determine the reference value, and
wherein the reference value determination unit determines a value obtained by subtracting the overlap width from the working width of the work device as the reference value.
14. The travel control system according to claim 2 , wherein the microcomputer further comprises:
an overlap width determination unit configured to determine an overlap width that is a width of an overlap portion of a region where work is performed by the first traveling during the outermost periphery automatic traveling and a region where work is performed by the second traveling during the outermost periphery automatic traveling; and
a reference value determination unit configured to determine the reference value, and
wherein the reference value determination unit determines a value obtained by subtracting the overlap width from the working width of the work device as the reference value.
15. The travel control system according to claim 3 , wherein the microcomputer further comprises:
an overlap width determination unit configured to determine an overlap width that is a width of an overlap portion of a region where work is performed by the first traveling during the outermost periphery automatic traveling and a region where work is performed by the second traveling during the outermost periphery automatic traveling; and
a reference value determination unit configured to determine the reference value, and
wherein the reference value determination unit determines a value obtained by subtracting the overlap width from the working width of the work device as the reference value.
16. The travel control system according to claim 4 , wherein the microcomputer further comprises:
an overlap width determination unit configured to determine an overlap width that is a width of an overlap portion of a region where work is performed by the first traveling during the outermost periphery automatic traveling and a region where work is performed by the second traveling during the outermost periphery automatic traveling; and
a reference value determination unit configured to determine the reference value, and
wherein the reference value determination unit determines a value obtained by subtracting the overlap width from the working width of the work device as the reference value.
17. The travel control system according to claim 5 , wherein the microcomputer further comprises:
an overlap width determination unit configured to determine an overlap width that is a width of an overlap portion of a region where work is performed by the first traveling during the outermost periphery automatic traveling and a region where work is performed by the second traveling during the outermost periphery automatic traveling; and
a reference value determination unit configured to determine the reference value, and
wherein the reference value determination unit determines a value obtained by subtracting the overlap width from the working width of the work device as the reference value.
18. The travel control system according to claim 6 , wherein the microcomputer further comprises:
an overlap width determination unit configured to determine an overlap width that is a width of an overlap portion of a region where work is performed by the first traveling during the outermost periphery automatic traveling and a region where work is performed by the second traveling during the outermost periphery automatic traveling; and
a reference value determination unit configured to determine the reference value, and
wherein the reference value determination unit determines a value obtained by subtracting the overlap width from the working width of the work device as the reference value.
19. The travel control system according to claim 7 , wherein the microcomputer further comprises:
an overlap width determination unit configured to determine an overlap width that is a width of an overlap portion of a region where work is performed by the first traveling during the outermost periphery automatic traveling and a region where work is performed by the second traveling during the outermost periphery automatic traveling; and
a reference value determination unit configured to determine the reference value, and
wherein the reference value determination unit determines a value obtained by subtracting the overlap width from the working width of the work device as the reference value.
20. The travel control system according to claim 8 , wherein the microcomputer further comprises:
an overlap width determination unit configured to determine an overlap width that is a width of an overlap portion of a region where work is performed by the first traveling during the outermost periphery automatic traveling and a region where work is performed by the second traveling during the outermost periphery automatic traveling; and
a reference value determination unit configured to determine the reference value, and
wherein the reference value determination unit determines a value obtained by subtracting the overlap width from the working width of the work device as the reference value.