Automatic traveling method, work vehicle, and automatic traveling system

An automatic traveling method causing a work vehicle to perform automatic traveling in a field, the automatic traveling method comprising:

• a route creating step of creating, when an outline of an unworked region of the field is set as a target outline and one side that constitutes the target outline is set as a reference line, a route that is parallel to the reference line;
• an automatic traveling step of performing automatic traveling on the basis of the created route;
• and
• a reference line setting step of setting, from a plurality of sides of the target outline based on the work vehicle's position and traveling direction, one side that is located corresponding to the work vehicle's position and has an extending direction corresponding to the traveling direction as a candidate side for the reference line,
• and setting, when the candidate side is equal to or more than a predetermined side length threshold, the candidate side as the reference line,
• wherein
• the predetermined side length threshold has a first side length threshold and a second side length threshold that is shorter than the first side length threshold,
• the reference line setting step sets the one side as a reference line when the one side is equal to or more than the second side length threshold,
• when the reference line is equal to or more than the second side length threshold and less than the first side length threshold, the route creating step creates only the route whose route length is equal to or more than a predetermined lower limit route length, and
• when the reference line is equal to or more than the first side length threshold, the route creating step creates the route regardless of the route length.

A work vehicle that performs automatic traveling in a field, the work vehicle comprising:

• a route creation unit creating, when a field outline is set as a target outline and one side that constitutes the target outline is set as a reference line, a route that is parallel to the reference line;
• an automatic traveling control unit performing automatic traveling on the basis of the created route;
• and
• a reference line setting step of setting, from a plurality of sides of the target outline based on the work vehicle's position and traveling direction, one side that is located corresponding to the work vehicle's position and has an extending direction corresponding to the traveling direction as a candidate side for the reference line,
• and setting, when the candidate side is equal to or more than a predetermined side length threshold, the candidate side as the reference line,
• wherein
• the predetermined side length threshold has a first side length threshold and a second side length threshold that is shorter than the first side length threshold,
• the reference line setting step sets the one side as a reference line when the one side is equal to or more than the second side length threshold,
• when the reference line is equal to or more than the second side length threshold and less than the first side length threshold, the route creating step creates only the route whose route length is equal to or more than a predetermined lower limit route length, and
• when the reference line is equal to or more than the first side length threshold, the route creating step creates the route regardless of the route length.

A work vehicle that performs automatic traveling in a field, the work vehicle comprising:

• a route creation unit creating, when an outline of an unworked region of the field is set as a target outline and one side that constitutes the target outline is set as a reference line, a route that is parallel to the reference line;
• an automatic traveling control unit performing automatic traveling on the basis of the created route;
• and
• a reference line setting step of setting, from a plurality of sides of the target outline based on the work vehicle's position and traveling direction, one side that is located corresponding to the work vehicle's position and has an extending direction corresponding to the traveling direction as a candidate side for the reference line,
• and setting, when the candidate side is equal to or more than a predetermined side length threshold, the candidate side as the reference line,
• wherein
• the predetermined side length threshold has a first side length threshold and a second side length threshold that is shorter than the first side length threshold,
• the reference line setting step sets the one side as a reference line when the one side is equal to or more than the second side length threshold,
• when the reference line is equal to or more than the second side length threshold and less than the first side length threshold, the route creating step creates only the route whose route length is equal to or more than a predetermined lower limit route length, and
• when the reference line is equal to or more than the first side length threshold, the route creating step creates the route regardless of the route length.

An automatic traveling system causing a work vehicle to perform automatic traveling in a field, the automatic traveling system comprising:

• a route creation unit creating, when a field outline is set as a target outline and one side that constitutes the target outline is set as a reference line, a route that is parallel to the reference line;
• an automatic traveling control unit performing automatic traveling on the basis of the created route;
• and
• a reference line setting step of setting, from a plurality of sides of the target outline based on the work vehicle's position and traveling direction, one side that is located corresponding to the work vehicle's position and has an extending direction corresponding to the traveling direction as a candidate side for the reference line,
• and setting, when the candidate side is equal to or more than a predetermined side length threshold, the candidate side as the reference line,
• wherein
• the predetermined side length threshold has a first side length threshold and a second side length threshold that is shorter than the first side length threshold,
• the reference line setting step sets the one side as a reference line when the one side is equal to or more than the second side length threshold,
• when the reference line is equal to or more than the second side length threshold and less than the first side length threshold, the route creating step creates only the route whose route length is equal to or more than a predetermined lower limit route length, and
• when the reference line is equal to or more than the first side length threshold, the route creating step creates the route regardless of the route length.

An automatic traveling system causing a work vehicle to perform automatic traveling in a field, the automatic traveling system comprising:

• a route creation unit creating, when an outline of an unworked region of the field is set as a target outline and one side that constitutes the target outline is set as a reference line, a route that is parallel to the reference line;
• an automatic traveling control unit performing automatic traveling on the basis of the created route;
• and
• a reference line setting step of setting, from a plurality of sides of the target outline based on the work vehicle's position and traveling direction, one side that is located corresponding to the work vehicle's position and has an extending direction corresponding to the traveling direction as a candidate side for the reference line,
• and setting, when the candidate side is equal to or more than a predetermined side length threshold, the side as the reference line,
• wherein
• the predetermined side length threshold has a first side length threshold and a second side length threshold that is shorter than the first side length threshold,
• the reference line setting step sets the one side as a reference line when the one side is equal to or more than the second side length threshold,
• when the reference line is equal to or more than the second side length threshold and less than the first side length threshold, the route creating step creates only the route whose route length is equal to or more than a predetermined lower limit route length, and
• when the reference line is equal to or more than the first side length threshold, the route creating step creates the route regardless of the route length.