Abstract: 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.

Abstract: A combine harvester includes a control device configured to function as a travel route creation unit, an automatic drive control unit, a course movement unit, and a course correction unit. The travel route creation unit creates, in a yet-to-be-reaped area of a field, a travel route that includes parallel first and second straight-line courses. The automatic drive control unit performs control on automatic driving and automatic reaping based on the travel route. While automatic reaping travel is conducted on the first straight-line course, the course movement unit modifies the travel route by moving the first straight-line course in a direction intersecting with the traveling direction. When movement of the first straight-line course results in movement of the first straight-line course in one direction, the course correction unit corrects a portion of the second straight-line course toward the same one direction.

Abstract: An acquisition processing unit acquires position information of a work vehicle traveling in a predetermined area in response to a traveling operation by an operator. A recording processing unit records the position information, as a traveling trajectory of the work vehicle, and temporarily stops recording processing of recording the position information, in a case where the work vehicle is brought to a state in which the position information cannot be acquired during traveling. A notification processing unit notifies the operator of information indicating that the recording processing is temporarily stopped. A setting processing unit registers a field, based on the position information.

Abstract: A work screen display system including a position information obtaining unit for obtaining position information on a work vehicle based on positioning correction information supplied from a first reference station; a region shape determination unit for determining a shape of a specific region where the work vehicle performs autonomous travel, based on positioning correction information supplied from a second reference station; and a display control unit for displaying, on a display unit, a specific region indication section indicating the specific region determined by the region shape determination unit. The display control unit displays the specific region indication section in a display mode that varies between a case where the first and second reference stations are identical and a case where the first and second reference stations are not identical.

Abstract: This autonomous travel system is provided with a farm field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a travel control unit. The farm field acquisition unit acquires information regarding a farm field that includes a work area and a headland area. The reference auxiliary line creation unit creates first reference auxiliary lines within the headland area at positions spaced apart from the farm field peripheral edge on the inner side thereof by a first reference interval. The adjacent auxiliary line creation unit creates, at each of auxiliary line intervals, first adjacent auxiliary lines at positions spaced apart from the first reference auxiliary lines on the inner sides thereof.

Abstract: A control method for a work vehicle is a control method for a work vehicle capable of performing work while traveling on a working ground. This control method includes: setting a position of an allowable limit line that is defined by a margin value which is a distance to inside of the working ground, based on an outline of the working ground, and that is a limit position at which protrusion of the work vehicle is allowed; and generating a route for causing the work vehicle to travel on the basis of the allowable limit line.

Abstract: The control method of a work vehicle is a control method of the work vehicle, capable of working on a plurality of work rows aligned in a direction intersecting a traveling direction, while traveling in a work site. This control method has acquisition of outline information based on an outline of the work site and setting of a row-stop position for executing row-stop control that sets a part of a plurality of work rows to non-work in the work site on the basis of the outline information.

Abstract: A travel process causes a work vehicle to travel along a plurality of work paths which are included in a target path and which cause the work vehicle to perform predetermined work, and a plurality of turning paths connecting between the work paths. In a case where the work vehicle travels in the turning path, when a correction process decides that at least one of a predetermined positional displacement and a predetermined orientational displacement occurs with respect to a target start position of the work path which follows the turning path, it causes the work vehicle to perform correction travel including reverse travel.

Abstract: A work screen display system including a position information obtaining unit for obtaining position information on a work vehicle based on positioning correction information supplied from a first reference station; a region shape determination unit for determining a shape of a specific region where the work vehicle performs autonomous travel, based on positioning correction information supplied from a second reference station; and a display control unit for displaying, on a display unit, a specific region indication section indicating the specific region determined by the region shape determination unit. The display control unit displays the specific region indication section in a display mode that varies between a case where the first and second reference stations are identical and a case where the first and second reference stations are not identical.

Abstract: A combine includes an operation unit; a display unit; a reference traveling line unit that acquires a reference traveling line indicating a direction of traveling; a location information unit that acquires location information indicating a location of a host vehicle; a field information unit that acquires field information indicating a location of an outer edge of an unworked land in a field; a display control unit that displays, on the display unit, the outer edge of the unworked land and a setting traveling line which is parallel to the reference traveling line and in which the location of the host vehicle indicated by the latest location information is set as a reference point; and a traveling control unit that makes the host vehicle travel along the setting traveling line based on the operation unit receiving an operation of switching from manual steering to the automatic steering.

Abstract: A travel route determination system including: a route generating unit generating planned travel routes including work routes along which a work vehicle performs autonomous travel; a control unit capable of causing the work vehicle to perform autonomous travel along the planned travel routes; an information obtaining unit obtaining position information and orientation information on the work vehicle; and a determination unit determining an autonomous travel candidate route at which the work vehicle can start autonomous travel, before the work vehicle starts autonomous travel. The determination unit sets a candidate determination region based on the position information and orientation information on the work vehicle, and the determination unit determines, among the work routes, a work route in the candidate determination region as the autonomous travel candidate route.

Abstract: An area registration method including setting information about a work vehicle that autonomously travels in a travel area; setting a work area which is included in the travel area and in which the work vehicle performs work; setting a headland area that is included in the travel area and is located on the outer side of the work area; and, when an operation for inputting the set information of the headland area is received after the work area and the headland area have been set, changing the sizes of the work area and the headland area on the basis of the inputted set information.

Abstract: An automatic traveling system causes a work vehicle to automatically travel in a work area in a case where the work vehicle satisfies a traveling start condition, and causes the work vehicle to automatically travel in a non-work area in a case where predetermined confirmation operation or confirmation action by a worker is performed.

Abstract: An autonomous travel system equipped with a first travel route creation unit, a second travel route creation unit, a linked route creation unit, and a storage unit. The first travel route creation unit is capable of creating a first travel route. The second travel route creation unit is capable of creating a second travel route. The linked route creation unit has a function for creating the second travel route in conjunction with the creation of the first travel route by the first travel route creation unit and/or a function for creating the first travel route in conjunction with the creation of the second travel route by the second travel route creation unit. The storage unit stores, in association with each other, the travel route created by the first travel route creation unit or the second travel route creation unit, and the travel route created by the linked route creation unit.

Abstract: An objective of the present invention is to make it possible to obtain, with a simple operation, a target route for autonomous travel suited to, for example, a user's sense of values. A target route generation system for a work vehicle includes a storage part 30A that stores basic data necessary for generating a target route P for autonomous travel, a priority item selection part 34 that prompts selection of a priority item with regard to generation of the target route P, and a target route generation part 30D that generates the target route P based on the basic data and the selected priority item.

Abstract: The present invention enables generating a desired target travel path intended by a user or the like without the need for various input works for the type, width, and the like of a work machine.

Abstract: The automatic traveling system includes a generation processing unit, an acquisition processing unit, and a correction processing unit. The generation processing unit generates a target route along which the work vehicle is caused to travel automatically. The acquisition processing unit acquires a correction position of the target route. The correction processing unit corrects the target route based on the correction position.

Abstract: In a combine harvester, a terminal-side control device of a portable terminal functions as a route creation unit and a route determination unit. The route creation unit creates an autonomous travel route including a plurality of work routes for performing work in an unworked region of the field and a turning route connecting the two work routes. The route determination unit determines whether the position of the combine harvester during traveling of the combine harvester on the turning route and the position of the field outline satisfy a predetermined positional relationship with regard to the autonomous travel route, confirms the autonomous travel route when it is determined that the predetermined positional relationship is satisfied, and recreates the autonomous travel route to satisfy the predetermined positional relationship when it is determined that the predetermined positional relationship is not satisfied.

Abstract: The setting processing part registers the first work corresponding to the work vehicle that automatically travels in the work range within the field F, and registers the second work corresponding to the work vehicle that automatically travels in the work range within the field F. The generation processing part generates the target route for causing the work vehicle to automatically travel for the work range, based on work information of the first work, and generates the target route for causing the work vehicle to automatically travel for the work range, based on work information of each of the first work and the second work, in a case where each of the first work and the second work is registered.

Abstract: In a combine harvester, a travel control portion performs control to enable traveling on a plurality of outermost periphery straight-ahead routes extending along a plurality of sides constituting a farm field outline, respectively. A route creation portion sets, based on machine body information of the combine harvester, a turning necessary area which is necessary for a turn from one outermost periphery straight-ahead route to a next outermost periphery straight-ahead route, and also creates, from a predetermined start point set on the one outermost periphery straight-ahead route toward an unworked land adjacent to an already-worked land which is formed by traveling based on the one outermost periphery straight-ahead route, a predetermined number of inclined routes, which are inclined at a predetermined angle relative to the one outermost periphery straight-ahead route, in the turning necessary area.