# US 12,602,045 B2 · Autonomous operation method, work vehicle, and autonomous operation system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,602,045 B2 - Document ID: US12602045B2 - Status: Granted - Kind: B2 - Application number: 17/751,535 - Filed: 2022-05-23 - Published: 2022-12-01 - Granted: 2026-04-14 - Earliest claimed: 2021-05-26 - Assignees: Yanmar Holdings Co., Ltd. - Applicants: Yanmar Holdings Co., Ltd. - Inventors: Yasuto Nishii; Yuji Yamaguchi; Masaaki Murayama - Web page: https://patentgrep.com/patent/US12602045B2 ## CPC - G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa} - A01B 69/008: {automatic} - A01D 41/1278: {for automatic steering} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - A01D: HARVESTING; MOWING ## Abstract A combine harvester is a work vehicle capable of switching between a manual travel mode to travel based on operation of an operation tool including a steering wheel which is a turning operation tool and an autonomous traveling mode to travel based on a predetermined travel route, which includes a controller to function as an autonomous travel controller to control travel of the combine harvester through the autonomous travel mode based on the travel route. The combine harvester is switched from the autonomous travel mode to the manual travel mode without stopping the vehicle when the steering wheel is operated during the autonomous travel mode. ## Claims ### Claim 1 An autonomous operation method of a work vehicle capable of switching between a manual travel mode to travel based on operation of an operation tool including a turning operation tool and an autonomous traveling mode to travel based on a predetermined travel route, the method comprising: turning the work vehicle according to turning operation of the turning operation tool provided on the work vehicle; and controlling travel of the work vehicle based on the travel route through performing the autonomous travel mode, wherein when the turning operation tool is operated during the autonomous travel mode, the autonomous travel mode is switched to the manual travel mode without stopping the work vehicle, the autonomous operation method wherein the controlling includes: performing the autonomous travel mode when a speed changing tool to instruct a forward-and-backward speed change of the work vehicle is positioned in a forward travel speed change area; switching to the manual travel mode and performing manual forward travel based on the position of the speed changing tool in the forward travel speed change area when the turning operation tool is operated during the autonomous travel mode in a forward travel direction, and switching to a manual travel with limitation mode and performing manual travel with limitation toward the forward travel direction with a gentler acceleration than an acceleration in the case where a forward travel set speed is directly set to the work vehicle which is performing backward travel through the manual travel mode, based on operation of the turning operation tool and the position of the speed changing tool in the forward travel speed change area when the turning operation tool is operated during the autonomous travel mode in a backward travel direction. ### Claim 2 (depends on 1) The autonomous operation method according to claim 1 further comprising switching the manual travel with limitation mode to the manual travel mode when a predetermined cancel operation is performed during operation of the manual travel with limitation mode. ### Claim 3 (depends on 2) The autonomous operation method according to claim 2, wherein when a cancellation operation unit provided on the work vehicle is operated during the manual travel with limitation mode, the manual travel with limitation mode is switched to the manual travel mode. ### Claim 4 (depends on 2) The autonomous operation method according to claim 2, wherein when the turning operation tool is operated by an operation amount not less than a predetermined operation amount threshold per a predetermined unit time during the manual travel with limitation mode, the manual travel with limitation mode is switched to the manual travel mode. ### Claim 5 An autonomous travel method for a work vehicle capable of switching between a manual travel mode to travel based on operation of an operation tool including a turning operation tool and an autonomous traveling mode to travel based on a predetermined travel route, having a turning instruction process for turning the work vehicle in response to the turning operation of the turning operating tool provided on the work vehicle, an autonomous travel control process for executing the autonomous travel mode and controlling the travel of the work vehicle based on the travel route, wherein when the turning operating tool is operated during execution of the autonomous travel mode, the autonomous travel mode is switched from the autonomous travel mode to the manual travel mode without stopping the vehicle, and an autonomous operation method, wherein the controlling includes: performing the autonomous travel mode when a speed changing tool to instruct a forward-and-backward speed change of the work vehicle is positioned in a forward travel speed change area; switching to the manual travel mode and performing manual forward travel based on the position of the speed changing tool in the forward travel speed change area, when the turning operation tool is operated during the autonomous travel mode in a forward travel direction; and maintaining travel in a backward travel direction, regardless of the position of the speed changing tool in the forward travel speed change area, when the turning operation tool is operated during the autonomous travel mode in the backward travel direction. ### Claim 6 An autonomous operation method: wherein a work vehicle capable of switching between a manual travel mode in which the work vehicle travels based on the operation of an operating tool including a turning operating tool, and an autonomous travel mode in which the work vehicle travels based on a predetermined travel route, having a turning instruction process for turning the work vehicle in response to the turning operation of the turning operating tool provided on the work vehicle, and an autonomous travel control process for executing the autonomous travel mode and controlling the travel of the work vehicle based on the travel route, when the turning operating tool is operated during execution of the autonomous travel mode, the autonomous travel mode is switched from the autonomous travel mode to the manual driving mode without stopping the vehicle, performing the autonomous travel mode when a speed changing tool to instruct a forward-and-backward speed change of the work vehicle is positioned in a forward travel speed change area; maintaining travel through the autonomous travel mode in a forward travel direction based on the position of the speed changing tool in the forward travel speed change area, when the speed changing tool is operated in the forward travel speed change area during the autonomous travel mode in the forward travel direction; and switching to a manual travel with limitation mode and performing manual travel with limitation toward the forward travel direction with an acceleration more gently than an acceleration in the case where a forward travel set speed is directly set to the work vehicle that is performing backward travel through the manual travel mode, based on operation of the turning operation tool and the position of the speed changing tool in the forward travel speed change area, when the speed changing tool is operated in the forward travel speed change area during the autonomous travel mode in a backward travel direction.