Working vehicle

A working vehicle to perform automatic operation including doing work at an agricultural field using a working device, the working vehicle comprising:

• a controller including an electrical/electronic circuit, a processor, and a memory, and configured or programmed to define and function as:
• a setter configured or programmed to set a first threshold for the automatic operation and a second threshold for remote operation controlled by a remote controller;
• and
• a changer configured or programmed to change the second threshold based on a predetermined condition;
• wherein
• the controller is configured or programmed to cause the working vehicle to stop traveling if a tilt angle of the working vehicle reaches the first threshold during the automatic operation or the second threshold during the remote operation;
• the second threshold has a greater absolute value than the first threshold;
• and
• the predetermined condition includes a condition in which, if the remote controller is positioned within a predetermined range from the working vehicle, the changer changes the second threshold such that an absolute value of the second threshold increases, and if the remote controller is positioned outside the predetermined range from the working vehicle, the changer does not change the second threshold.

A working vehicle to perform automatic operation including doing work at an agricultural field using a working device, the working vehicle comprising:

• a controller including an electrical/electronic circuit, a processor, and a memory, and configured or programmed to define and function as:
• a setter configured or programmed to set a first threshold for the automatic operation and a second threshold for remote operation controlled by a remote controller;
• and
• a changer configured or programmed to change the second threshold based on a predetermined condition;
• wherein
• the controller is configured or programmed to cause the working vehicle to stop traveling if a tilt angle of the working vehicle reaches the first threshold during the automatic operation or the second threshold during the remote operation;
• the second threshold has a greater absolute value than the first threshold;
• the changer is configured or programmed to change the second threshold based on a type of the working device as the predetermined condition;
• and
• the predetermined condition includes a condition in which, if the type of the working device is a contact type that does work by contacting a ground, the changer changes the second threshold such that an absolute value of the second threshold increases, and if the type of the working device is a noncontact type that does work without contacting the ground, the changer does not change the second threshold.

A working vehicle to perform automatic operation including doing work at an agricultural field using a working device, the working vehicle comprising:

• a controller including an electrical/electronic circuit, a processor, and a memory, and configured or programmed to define and function as:
• a setter configured or programmed to set a first threshold for the automatic operation and a second threshold for remote operation controlled by a remote controller;
• and
• a limiter configured or programmed to limit content of an operation of the working vehicle in a tilted state when the working vehicle travels in the tilted state under the remote operation controlled by the remote controller;
• wherein
• the controller is configured or programmed to cause the working vehicle to stop traveling if a tilt angle of the working vehicle reaches the first threshold during the automatic operation or the second threshold during the remote operation;
• the limiter is configured or programmed to limit at least one of a vehicle speed of the working vehicle in the tilted state, an acceleration of the working vehicle in the tilted state, changing a speed stage of the working vehicle in the tilted state, steering of the working vehicle in the tilted state, or content of an operation of the working device;
• and
• the limiter is configured or programmed to, when limiting the steering of the working vehicle, limit a steering angle of the steering based on the tilt angle of the working vehicle and a travel direction of the working vehicle.

A working vehicle to perform automatic operation including doing work at an agricultural field using a working device, the working vehicle comprising:

• a controller including an electrical/electronic circuit, a processor, and a memory, and configured or programmed to define and function as:
• a setter configured or programmed to set a first threshold for the automatic operation and a second threshold for remote operation controlled by a remote controller;
• and
• a changer configured or programmed to change the second threshold based on a predetermined condition;
• wherein
• the controller is configured or programmed to cause the working vehicle to stop traveling if a tilt angle of the working vehicle reaches the first threshold during the automatic operation or the second threshold during the remote operation;
• the second threshold has a greater absolute value than the first threshold;
• and
• the predetermined condition includes a condition in which, if a remote operator performs an operation to change the second threshold, the changer changes the second threshold such that an absolute value of the second threshold increases, and if the remote operator performs an operation to restore the second threshold, the changer restores the second threshold.