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EP-4741979-A1 - AUTOMATIC TRAVEL ASSISTANCE SYSTEM

EP4741979A1EP 4741979 A1EP4741979 A1EP 4741979A1EP-4741979-A1

Abstract

An automatic travel assistance system (100) is provided to assist a working vehicle (1) in performing automatic travel. The working vehicle (1) includes a traveling device (5) and a working device (2) to perform work. The automatic travel assistance system (100) includes an input interface (13a, 32, 13b, 13c, 13d) to receive input of vehicle information, and area information. The automatic travel assistance system includes an information processor (11) configured to, based on the vehicle information and the area information, perform a first collision prediction and a second collision prediction that the vehicle body (3) or the working device (2) will collide with the obstacle (Q1, Q2), and plan a travel route (L3) for the working vehicle (1) such that the collision of the traveling device (5), the vehicle body (3), and the working device (2) attached to the vehicle body (3) with the obstacle (Q1, Q2) is avoided.

Inventors

  • NAGAI, Reo
  • TAKAKI, Shumpei
  • KITAJIMA, TOSHIHIRO

Assignees

  • KUBOTA CORPORATION

Dates

Publication Date
20260513
Application Date
20251105

Claims (15)

  1. An automatic travel assistance system (100) to assist a working vehicle (1) in performing automatic travel, the working vehicle (1) including a traveling device (5) to cause a vehicle body (3) to travel and being configured to attach thereto a working device (2) to perform work, the automatic travel assistance system (100) comprising: an input interface (13a, 32, 13b, 13c, 13d) to receive input of vehicle information relating to at least one of the vehicle body (3) or the working device (2) and relating to the traveling device (5), and area information relating to a goal point (Pg) and at least one obstacle (Q1, Q2) in a predetermined area (E1); and an information processor (11) configured to: based on the vehicle information and the area information, perform a first collision prediction to predict a likelihood that the traveling device (5) will collide with the at least one obstacle (Q1, Q2) in a case where the working vehicle (1) travels in the area (E1) toward the goal point (Pg), and a second collision prediction to predict a likelihood that at least one of the vehicle body (3) or the working device (2) will collide with the at least one obstacle (Q1, Q2) in the case where the working vehicle (1) travels in the area (E1) toward the goal point (Pg); and based on the first collision prediction and the second collision prediction, plan a travel route (L3) for the working vehicle (1) such that the collision of the traveling device (5), the vehicle body (3), and the working device (2) attached to the vehicle body (3) with the at least one obstacle (Q1, Q2) is avoided.
  2. The automatic travel assistance system (100) according to claim 1, wherein the information processor (11) is configured to perform the first collision prediction and the second collision prediction and plan the travel route (L3) for a case where the working vehicle (1) travels in the area (E1) toward the goal point (Pg) while the working device (2) is not performing work; and the automatic travel assistance system (100) further comprises a vehicle controller (12) configured to control travel of the working vehicle (1) based on the travel route (L3) to perform the automatic travel.
  3. The automatic travel assistance system (100) according to claim 1 or 2, wherein the vehicle information includes pieces of information indicating (i) a size of at least one of the vehicle body (3) or the working device (2), (ii) a size of the traveling device (5), (iii) a position of the traveling device (5) or positions of the traveling device (5) and the working device (2) relative to the vehicle body (3), and (iv) a height of at least one of the vehicle body (3) or the working device (2) from a bottom of the traveling device (5); the area information includes pieces of information indicating (i) positions of a passage (J1), the goal point (Pg), and the at least one obstacle (Q1, Q2) in the area (E1), and (ii) a height of the at least one obstacle (Q1, Q2) from a ground surface; and the information processor (11) is configured to: perform the first collision prediction including predicting a likelihood that at least one of a wheel (5F, 5R) or a crawler track of the traveling device (5) will collide with the at least one obstacle (Q1, Q2); and perform the second collision prediction including predicting a likelihood that at least one of the vehicle body (3) or the working device (2) will collide with the at least one obstacle (Q1, Q2).
  4. The automatic travel assistance system (100) according to any one of claims 1 to 3, wherein the information processor (11) is configured to perform the second collision prediction including predicting a likelihood that the vehicle body (3) and the working device (2) attached to the vehicle body (3) will collide with the at least one obstacle (Q1, Q2).
  5. The automatic travel assistance system (100) according to any one of claims 1 to 4, wherein the information processor (11) is configured to: perform the first collision prediction and the second collision prediction based on (i) a planned route (L1) for the working vehicle (1) toward the goal point (Pg) planned based on a predetermined condition, (ii) the vehicle information, and (iii) the area information; and plan the travel route (L3) based on the first collision prediction and the second collision prediction.
  6. The automatic travel assistance system (100) according to claim 5, wherein the information processor (11) is configured to plan the planned route (L1) based on the predetermined condition, the first collision prediction, and the second collision prediction.
  7. The automatic travel assistance system (100) according to claim 5 or 6, comprising a vehicle controller (12) configured to control travel of the working vehicle (1) to perform the automatic travel; wherein the input interface (13a to 13d, 32) includes: a position detector (13c) to detect a position of the vehicle body (3); and a sensing assembly (13d) to sense a region within a first distance from the working vehicle (1); the vehicle controller (12) is configured to start the automatic travel based on the planned route (L1); the information processor (11) is configured to, after the automatic travel is started, perform the first collision prediction and the second collision prediction based on (i) the planned route (L1), (ii) the vehicle information, (iii) the area information, (iv) the position of the vehicle body (3), and (v) a sensing result from the sensing assembly (13d), and plan the travel route (L3) based on the first collision prediction and the second collision prediction; and the vehicle controller (12) is configured to, when the travel route (L3) is planned, perform the automatic travel based on the travel route (L3) instead of the planned route (L1).
  8. The automatic travel assistance system (100) according to any one of claims 1 to 7, wherein the information processor (11) is configured to: based on the first collision prediction and the second collision prediction, create a plurality of provisional route segments (L2) extending in different directions and each extending by a second distance such that the collision is avoided, and determine that one of the plurality of provisional route segments (L2) selected based on a predetermined condition is a local route segment (L3a) of the travel route (L3); and determine a next local route segment (L3a) following the determined local route segment (L3a) and repeat the determining one or more times to plan the travel route (L3).
  9. The automatic travel assistance system (100) according to any one of claims 1 to 8, wherein the information processor (11) is configured to plan the travel route (L3) based on the first collision prediction and the second collision prediction and based on a predetermined condition.
  10. The automatic travel assistance system (100) according to claim 5 or 9, wherein the predetermined condition includes a condition in which at least one of a shortest possible travel time taken for the working vehicle (1) to reach the goal point (Pg) or a shortest possible travel distance traveled by the working vehicle (1) to reach the goal point (Pg) is achieved.
  11. The automatic travel assistance system (100) according to claim 7 taken in combination with any of claims 1 to 10, wherein the information processor (11) is configured to plan the travel route (L3) based on the first collision prediction and the second collision prediction such that the travel route (L3) passes through a plurality of via points (Pw) on the planned route (L1).
  12. The automatic travel assistance system (100) according to claim 8 or 11, comprising a vehicle controller (12) to control travel of the working vehicle (1) based on the travel route (L3) to perform the automatic travel; wherein the input interface (13a to 13d, 32) includes: a position detector (13c) to detect a position of the vehicle body (3); and a sensing assembly (13d) to sense a region within a first distance from the working vehicle (1); the information processor (11) is configured to: while the automatic travel is performed, predict, based on an orientation of the vehicle body (3), a to-be-traveled route (L4) to be traveled by the working vehicle (1) toward a selected point (Px) on the travel route (L3), the selected point (Px) being at a third distance from the position of the vehicle body (3); based on (i) the vehicle information, (ii) the area information, (iii) the position of the vehicle body (3), and (iv) a sensing result from the sensing assembly (13d), perform the first collision prediction and the second collision prediction for a case where the working vehicle (1) travels along the to-be-traveled route (L4); and when the first collision prediction and the second collision prediction indicate that the collision is unlikely, cause the vehicle controller (12) to perform the automatic travel such that the working vehicle (1) travels along the to-be-traveled route (L4).
  13. The automatic travel assistance system (100) according to claim 12, wherein the information processor (11) is configured to, when at least one of the first collision prediction or the second collision prediction for the case where the working vehicle (1) travels along the to-be-traveled route (L4) indicates that the collision is likely, move the selected point (Px) along the travel route (L3) by a fourth distance toward the vehicle body (3), predict the to-be-traveled route (L4) again, and perform the first collision prediction and the second collision prediction again.
  14. The automatic travel assistance system (100) according to claim 13, wherein the information processor (11) is configured to, after moving the selected point (Px) one or more times, when a distance from the moved selected point (Px) to the position of the vehicle body (3) is equal to or less than a threshold, cause the vehicle controller (12) to stop the automatic travel.
  15. The automatic travel assistance system (100) according to any one of claims 2 to 14, comprising the working vehicle (1); wherein the input interface (13a to 13d, 32), the information processor (11), and the vehicle controller (12) are provided in or on at least one of the working vehicle (1), a server (20) configured to communicate with the working vehicle (1), or a terminal device (30) configured to communicate with the working vehicle (1).

Description

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an automatic travel assistance system to assist a working vehicle in performing automatic travel while avoiding a collision with an obstacle. Description of the Related Art Known systems to assist a working vehicle in performing automatic travel (autonomous travel) include a system disclosed in Japanese Unexamined Patent Application Publication No. 2023-25407. In the system disclosed in Japanese Unexamined Patent Application Publication No. 2023-25407, a range sensor measures a distance to an object located at a side of a working device attached to a working vehicle, and a terminal device displays a detection result from the range sensor. While the working vehicle is traveling within agricultural fields based on a planned route, it executes control to ensure the distance measured by the range sensor from the ridge does not fall below a predetermined distance, taking precedence over control to follow the planned route. In addition, a management terminal is disclosed to calculate, based on terrain information relating to a managed passage in a management area and relating to the agricultural fields stored in a database, a travel route for the working vehicle from an installation position of the managing terminal to the entrance/exit of the agricultural fields through the managed passage. SUMMARY OF THE INVENTION There is a desire to cause a working vehicle to efficiently perform automatic travel toward a goal point, such as an agricultural field. It is therefore necessary to avoid a collision between the working vehicle and an obstacle. After the working vehicle detects an obstacle with a sensor or the like, when predetermined operations such as steering, decelerating, and stopping to avoid a collision with the obstacle are suddenly performed, the efficiency of automatic travel decreases. In particular, as the frequency with which the predetermined operations are suddenly performed increases, the efficiency of automatic travel of the working vehicle decreases significantly. In response to the above issue, it is an object of the present invention to cause a working vehicle to efficiently perform automatic travel toward a goal point. One example embodiment of the present invention provides an automatic travel assistance system to assist a working vehicle in performing automatic travel. The working vehicle includes a traveling device to cause a vehicle body to travel and is configured to attach thereto a working device to perform work. The automatic travel assistance system includes an input interface to receive input of vehicle information relating to at least one of the vehicle body or the working device and relating to the traveling device, and area information relating to a goal point and at least one obstacle in a predetermined area. The automatic travel assistance system includes an information processor configured to i) based on the vehicle information and the area information, perform a first collision prediction to predict a likelihood that the traveling device will collide with the at least one obstacle in a case where the working vehicle travels in the area toward the goal point, and a second collision prediction to predict a likelihood that at least one of the vehicle body or the working device will collide with the at least one obstacle in the case where the working vehicle travels in the area toward the goal point, and ii) based on the first collision prediction and the second collision prediction, plan a travel route for the working vehicle such that the collision of the traveling device, the vehicle body, and the working device attached to the vehicle body with the at least one obstacle is avoided. According to the present invention, the working vehicle can efficiently perform the automatic travel while avoiding a collision with an obstacle. The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the example embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS A more complete appreciation of example embodiments of the present invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings described below. FIG. 1 is a schematic diagram of an example configuration of an automatic travel assistance system.FIG. 2 is an example side view of a working vehicle.FIG. 3 is a block diagram illustrating an example electrical configuration of the working vehicle.FIG. 4 is a diagram for explaining an example collision prediction process and an example route planning process.FIG. 5 is a diagram illustrating example models of a traveling device.FIG. 6 is a diagram illustrating example models of a vehicle body and exampl