Detection method, detection program, and work vehicle

A processor-implemented detection method for detecting one or more detection targets around a work vehicle that automatically travels along a target route using a detection unit provided in the work vehicle, wherein:

• the target route includes a current work route on which a predetermined work is performed for a work object,
• the detection unit comprises a plurality of detection sensors, including a front detection sensor for detecting the one or more detection targets in front of the work vehicle, and at least one side detection sensor for detecting the one or more detection targets on at least one corresponding side of the work route,
• the detection method comprising:
• enabling, by a processor, a detection function capable of detecting the one or more detection targets based on a first value of a first parameter associated with the target route during travel of the work-vehicle, wherein enabling the detection function comprises selectively enabling one or more of:
• the front detection sensor, or the at least one side detection sensor based on corresponding first values of one or more second parameters associated with the target route;
• disabling by the processor, the detection function based on a second value of the first parameter associated with the target route during travel by the work-vehicle, wherein disabling the detection function comprises selectively disabling one or more of:
• the front detection sensor, or the at least one side detection sensor based on corresponding second values of one or more second parameters associated with the target route;
• initiating predetermined processing based on a current state of the detection function;
• and
• executing the predetermined processing when the least one selectively enabled side detection sensor corresponding to an adjacent work route adjacent to the work route detects no work object and it is determined that the work object has fallen down.

A non-transitory computer-readable medium comprising instructions to configure a processor to perform a detection method that detects a detection target around a work vehicle using a detection unit provided in the work vehicle during automatic travel by the work vehicle along a target route, the detection method comprising:

• enabling a detection function capable of detecting the detection target based on a first value of a first parameter associated with the target route, wherein the detection function is enabled when the first value is indicative of a work completed work route where a predetermined work on a work object has been performed;
• disabling by the processor, the detection function based on a second value of the first parameter associated with the target route during travel by the work-vehicle, wherein the detection function is disabled when the second value is indicative of an unworked work route;
• initiating predetermined processing based on a current state of the detection function;
• and
• switching the detection function from an enabled state to a disabled state when the work vehicle detects a change from the first value to the second value indicating a change from the work-completed work route to the unworked work route, wherein the detection function is switched from an enabled state to a disabled state when the work vehicle is a predetermined distance before a start position of the unworked work route.