Automatic traveling system, automatic traveling method, and automatic traveling program

An automatic traveling system comprising:

• an acquisition processing part configured to acquire detection information from a first detection part and a second detection part, the first detection part configured to detect an obstacle in a first detection area set around a work vehicle, the second detection part configured to detect the obstacle in a second detection area set around the work vehicle with a non-detection area provided in at least a portion of an area between the first detection area and the second detection area;
• a detection processing part configured to detect the obstacle based on the detection information acquired by the acquisition processing part;
• a traveling processing part configured to execute a travel restriction of the work vehicle when the obstacle is detected in the first detection area by the detection processing part, wherein the travel restriction decelerates or stops the work vehicle;
• and
• a determination processing part configured to determine that the obstacle is not going to further enter the second detection area from the non-detection area when the obstacle enters the non-detection area from the first detection area while the travel restriction is imposed on the work vehicle by the traveling processing part,
• wherein the traveling processing part removes the travel restriction of the work vehicle in response to determining that the obstacle is not going to further enter the second detection area by the determination processing part.

A non-transitory, computer-readable storage medium having stored thereon an automatic travel program that, when executed by one or more processors, causes the one or more processors to perform operations comprising:

• acquiring detection information from a first detection part and a second detection part, the first detection part configured to detect an obstacle in a first detection area set around a work vehicle, the second detection part configured to detect the obstacle in a second detection area set around the work vehicle with a non-detection area provided in at least a portion of an area between the first detection area and the second detection area;
• detecting the obstacle based on the detection information;
• executing a travel restriction of the work vehicle when the obstacle is detected in the first detection area, wherein the travel restriction decelerates or stops the work vehicle;
• determining that the obstacle is not going to further enter the second detection area from the non-detection area when the obstacle enters the non-detection area from the first detection area while the travel restriction is imposed on the work vehicle;
• and
• removing the travel restriction of the work vehicle in response to determining that the obstacle is not going to further enter the second detection area.