Route creation method, work vehicle, and autonomous travel system

A work vehicle that autonomously travels in a field, the work vehicle comprising:

• a route creation unit that creates, as an autonomous travel route for the work vehicle to autonomously travel in the field, the autonomous travel route for a harvesting machine as the work vehicle to include a plurality of work routes for performing work in an unworked region of the field and a turning route connecting two of the work routes, wherein the turning route comprises a corner turning route located at a corner of the unworked region;
• and
• a route determination unit that determines whether a position of the work vehicle during traveling of the work vehicle on the turning route that includes the corner turning route and a position of a field outline satisfy a predetermined positional relationship with regard to the autonomous travel route created by the route creation unit, and 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, wherein the recreated autonomous travel route comprises at least one reaping route for reaping at the corner of the unworked region on the corner turning route, the at least one reaping route being generated prior to travel on the corner turning route.

An autonomous travel system for a work vehicle to autonomously travel in a field, the autonomous travel system comprising:

• a route creation unit that creates, as an autonomous travel route for the work vehicle to autonomously travel in the field, the autonomous travel route for a harvesting machine as the work vehicle to include a plurality of work routes for performing work in an unworked region of the field and a turning route connecting two of the work routes, wherein the turning route comprises a corner turning route located at a corner of the unworked region;
• and
• a route determination unit that determines whether a position of the work vehicle during traveling of the work vehicle on the turning route that includes the corner turning route and a position of a field outline satisfy a predetermined positional relationship with regard to the autonomous travel route created by the route creation unit, and 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, wherein the recreated autonomous travel route comprises at least one reaping route for reaping at the corner of the unworked region on the corner turning route, the at least one reaping route being generated prior to travel on the corner turning route.