Work vehicle, control device, control method, and system

A control device for a work vehicle capable of autonomously traveling in a vehicle passage provided in a work region, the control device comprising:

• at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
• acquire map information including information indicating a first region in which the work vehicle and an oncoming vehicle facing the work vehicle and capable of traveling in the vehicle passage are able to pass each other in the vehicle passage, information indicating a second region in which the work vehicle and the oncoming vehicle are incapable of passing each other, and information indicating a third region to which the work vehicle is capable of being retreated from the second region;
• and
• control traveling of the work vehicle such that the work vehicle and the oncoming vehicle are able to pass each other in the vehicle passage on the basis of the map information acquired, wherein
• the control of the traveling of the work vehicle further comprises:
• controlling traveling of the work vehicle such that the work vehicle travels in the first region when the work vehicle and the oncoming vehicle pass each other, and
• controlling the traveling of the work vehicle such that the work vehicle is retreated to the third region in a case where the work vehicle is incapable of traveling in the first region when the work vehicle and the oncoming vehicle pass each other.

A control method of controlling a work vehicle capable of autonomously traveling in a vehicle passage provided in a work region, the control method comprising:

• a step of acquiring map information including information indicating a first region in which the work vehicle and an oncoming vehicle facing the work vehicle and capable of traveling in the vehicle passage are able to pass each other in the vehicle passage, information indicating a second region in which the work vehicle and the oncoming vehicle are incapable of passing each other, and information indicating a third region to which the work vehicle is capable of being retreated from the second region;
• and
• a step of controlling traveling of the work vehicle such that the work vehicle and the oncoming vehicle are able to pass each other in the vehicle passage on the basis of the map information acquired in the step, wherein
• in the step of controlling the traveling of the work vehicle,
• the traveling of the work vehicle is controlled such that the work vehicle travels in the first region when the work vehicle and the oncoming vehicle pass each other, and
• the traveling of the work vehicle is controlled such that the work vehicle is retreated to the third region in a case where the work vehicle is incapable of traveling in the first region when the work vehicle and the oncoming vehicle pass each other.

A system comprising:

• a work vehicle capable of autonomously traveling in a vehicle passage provided in a work region;
• and
• a server configured to manage traveling of the work vehicle, wherein
• the server comprises at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
• acquire map information indicating a first region in which the work vehicle and an oncoming vehicle facing the work vehicle and capable of traveling in the vehicle passage are able to pass each other in the vehicle passage, a second region in which the work vehicle and the oncoming vehicle are incapable of passing each other, and a third region to which the work vehicle is capable of being retreated from the second region, and
• control traveling of the work vehicle such that the work vehicle and the oncoming vehicle are able to pass each other in the vehicle passage on the basis of the map information, and
• the control of the traveling of the work vehicle further comprises:
• controlling the traveling of the work vehicle such that the work vehicle travels in the first region when the work vehicle and the oncoming vehicle pass each other, and
• controlling the traveling of the work vehicle such that the work vehicle is retreated to the third region in a case where the work vehicle is incapable of traveling in the first region when the work vehicle and the oncoming vehicle pass each other.