Automatic driving method, work vehicle, and automatic driving system
To provide an automatic driving method, a work vehicle, and an automatic driving system, by which it is possible to perform automatic travel with improved operability. A combine is a work vehicle executing an automatic travel, based on a preset travel route, and includes a steering wheel being a turn operation tool that accepts a turn operation to instruct turning of the combine, a control device that functions as an automatic travel control unit that controls the automatic travel of the combine, based on a travel route, and an override button being a turn operation permission unit that permits a turn operation on the steering wheel during execution of the automatic travel. The travel unit does not accept the turn operation under a normal circumstance during execution of the automatic travel but once the override button is operated, accepts the turn operation.
1. An automatic driving method for a work vehicle executing an automatic travel, based on a preset travel route, comprising:
a turn instruction step of instructing the work vehicle to turn according to a turn operation on a turn operation tool provided in the work vehicle;
an automatic travel control step of controlling the automatic travel of the work vehicle, based on the travel route; and
a permission operation step of permitting the turn operation on the turn operation tool during execution of the automatic travel according to an operation on a turn operation permission unit provided in the work vehicle, wherein
in the turn instruction step, during execution of the automatic travel, the turn operation on the turn operation tool is accepted in response to operation of the turn operation permission unit.
2. The automatic driving method according to claim 1 , further comprising: in response to a subsequent operation of the turn operation permission unit after acceptance of the turn operation in the turn instruction step, and a determination that a separation distance from the work vehicle to the travel route is within a predetermined distance, executing the automatic travel based on the travel route.
3. The automatic driving method according to claim 1 , further comprising: in response to a subsequent operation of the turn operation permission unit after acceptance of the turn operation in the turn instruction step, and a determination that an orientation of the work vehicle relative to an orientation of the travel route is within a predetermined angle, executing the automatic travel based on the travel route.
4. The automatic driving method according to claim 1 , wherein in the turn instruction step, during execution of the automatic travel, while the turn operation permission unit is being depressed, the turn operation on the turn operation tool is accepted,
when the depressing of the turn operation permission unit is released, in response to a determination that a separation distance from the work vehicle to the travel route is within a predetermined distance, the turn operation on the turn operation tool is not accepted in the turn instruction step, and in the automatic travel control step, executing the automatic travel based on the travel route.
5. The automatic driving method according to claim 4 , wherein in the turn instruction step, during execution of the automatic travel, while the turn operation permission unit is being depressed, the turn operation on the turn operation tool is accepted,
when the depressing of the turn operation permission unit is released, in response to a determination that an orientation of the work vehicle relative to an orientation of the travel route is within a predetermined angle, the turn operation on the turn operation tool is not accepted in the turn instruction step, and in the automatic travel control step, executing the automatic travel based on the travel route.
6. The automatic driving method according to claim 1 , wherein in the turn instruction step, in response to a predetermined operation unavailable condition setting, the operation on the turn operation permission unit is not accepted.
7. The automatic driving method according to claim 1 , wherein the automatic travel control step further comprises, during execution of the automatic travel, applying a control based on a movement direction of the work vehicle when the turn operation permission unit is operated.
8. The automatic driving method according to claim 7 , further comprising, in the automatic travel control step, when a speed change operation tool that instructs the work vehicle to change a speed in forward-and-backward movements of the work vehicle is located in a forward speed change region, executing the automatic travel, wherein
when the turn operation permission unit is operated during execution of the automatic travel in a forward direction, in a state where the turn operation on the turn operation tool is accepted in the turn instruction step, the travel in the forward direction is maintained based on the position of the speed change operation tool in the forward speed change region, and
when the turn operation permission unit is operated during execution of the automatic travel in a backward direction, in a state where the turn operation on the turn operation tool is accepted in the turn instruction step, a travel direction is switched to the forward direction based on the position of the speed change operation tool in the forward speed change region, with wherein the travel direction is switched with first acceleration that is lower than a second acceleration when the work vehicle is switched from performing a backward manual travel.
9. The automatic driving method according to claim 7 , further comprising, in the automatic travel control step, when a speed change operation tool that instructs the work vehicle to change a speed in forward-and-backward movements of the work vehicle is located in a forward speed change region, executing the automatic travel, wherein
when the turn operation permission unit is operated during execution of the automatic travel in a forward direction, in a state where the turn operation on the turn operation tool is accepted in the turn instruction step, the travel in the forward direction is maintained based on the position of the speed change operation tool in the forward speed change region, and
when the turn operation permission unit is operated during execution of the automatic travel in a backward direction, in a state where the turn operation on the turn operation tool is accepted in the turn instruction step, the travel in the backward direction is maintained without regard to the position of the speed change operation tool.
10. The automatic driving method according to claim 7 , wherein when the turn operation permission unit is operated during execution of the automatic travel in a forward direction, in a state where the turn operation on the turn operation tool is accepted in the turn instruction step, the travel in the forward direction is maintained, and
when the turn operation permission unit is operated during execution of the automatic travel in a backward direction, the travel of the work vehicle is stopped in the automatic travel control step.
11. The automatic driving method according to claim 10 , wherein in the automatic travel control step, when a speed change operation tool that instructs the work vehicle to change a speed in forward-and-backward movements of the work vehicle is located in a forward speed change region, the automatic travel is executed, and
when the turn operation permission unit is operated during execution of the automatic travel in a backward direction, the travel of the work vehicle is stopped in the automatic travel control step, and when the speed change operation tool is operated to a neutral position to change the speed, the turn operation on the turn operation tool is accepted in the turn instruction step.
12. A work vehicle performing an automatic travel, based on a preset travel route, comprising:
a turn operation tool that accepts a turn operation to instruct turning;
an automatic travel control unit that controls the automatic travel based on the travel route; and
a turn operation permission unit that permits a turn operation on the turn operation tool during execution of the automatic travel, wherein
the turn operation tool accepts the turn operation during automatic travel in response to operation of the turn operation permission unit.
13. An automatic driving system provided with a work vehicle performing an automatic travel, based on a preset travel route, comprising:
a turn operation tool that accepts a turn operation to instruct turning of the work vehicle;
an automatic travel control unit that controls the automatic travel of the work vehicle, based on the travel route; and
a turn operation permission unit that permits a turn operation on the turn operation tool during execution of the automatic travel, wherein
the turn operation tool accepts the turn operation during automatic travel in response to operation of the turn operation permission unit.