Path planning system and path planning method for agricultural machine performing self-traveling

A path planning system for an agricultural machine to automatically travel inside and outside a field, the path planning system comprising:

• a storage to store a map of a region including a plurality of fields and roads around the plurality of fields;
• a processor to generate a path for the agricultural machine on the map;
• and
• a controller configured or programmed to cause the agricultural machine to travel along the path generated by the processor, wherein
• the map includes attribute information representing, for each of the roads, whether the road is an agricultural road, and whether the road is a road along a specific feature;
• and
• for generation of a path toward a field or a path from a field toward another site, the processor is configured or programmed to generate the path based on the attribute information in a mode selected by a user from a plurality of modes including:
• a first mode to generate the path by selecting agricultural roads with priority, and
• a second mode to generate the path by selecting roads along the specific feature with priority.