Travel route generating device and method for generating travel route

A method for generating a travel route for a work vehicle, comprising:

• dividing a topographical map of a work field to provide cells, the work vehicle being to work in the work field, the work field being surrounded by an outer periphery, the work field including a headland extending along the outer periphery and having a predetermined width from the outer periphery, the cells including headland cells provided in the headland and internal cells provided in an area surrounded by the headland in the work field;
• providing a travel probability with respect to each of the cells, the travel probability including a left-turn travel probability, a straight travel probability, and a right-turn travel probability in the each of the cells;
• determining a travel direction in the each of the cells based on the travel probability of the each of the cells to generate a travel route, the work vehicle being configured to travel through the each of the cells in the travel direction;
• and
• changing the travel probability with respect to each of affected cells among the cells such that the work vehicle is allowed to pass each of the headland cells multiple times and is prohibited from passing each of the internal cells multiple times, the affected cells being adjacent to determined cells among the cells, a travel direction in each of the determined cells having been determined.

A travel route generating device for a work vehicle, comprising:

• cell memory means for storing cell information with respect to cells obtained by dividing a topographical map of a work field in which the work vehicle works, the work field being surrounded by an outer periphery, the work field including a headland extending along the outer periphery and having a predetermined width from the outer periphery, the cells including headland cells provided in the headland and internal cells provided in an area surrounded by the headland in the work field;
• travel probability memory means for storing a travel probability with respect to each of the cells, the travel probability including a left-turn travel probability, a straight travel probability, and a right-turn travel probability in the each of the cells;
• travel direction determining means for determining a travel direction in the each of the cells based on the travel probability of the each of the cells to generate a travel route, the work vehicle being configured to travel through the each of the cells in the travel direction;
• and
• travel probability changing means for changing the travel probability with respect to each of affected cells among the cells such that the work vehicle is allowed to pass each of the headland cells multiple times and is prohibited from passing each of the internal cells multiple times, the affected cells being adjacent to determined cells among the cells, a travel direction in each of the determined cells having been determined.