Vehicle control method, vehicle control program, and vehicle control system

A non-transitory computer-readable medium comprising instructions to configure a processor to perform a vehicle control method comprising:

• acquiring, when a work vehicle performs autonomous travel according to a target route, distance information relating to a distance to a detection target that is detected by a detection unit on the work vehicle;
• acquiring image information relating to a capture image of the detection target that is captured by an imaging unit on the work vehicle;
• determining a type of the detection target based on the image information;
• and
• causing the work vehicle to execute countermeasure processing, wherein
• a likelihood of the type of the detection target is calculated based on the image information, and the work vehicle is made to execute the countermeasure processing based on the calculated likelihood, wherein
• the work vehicle is made to execute the countermeasure processing when the calculated likelihood exceeds a threshold, wherein
• the threshold is set to a smaller value as the distance becomes shorter,
• the threshold is set to a different value depending on a content of the countermeasure processing,
• the threshold is set to a first threshold when the countermeasure processing is processing that causes the work vehicle to stop while performing autonomous travel, and
• the threshold is set to a second threshold, which is larger than the first threshold, when the countermeasure processing is processing that causes the work vehicle to decelerate while performing autonomous travel, or processing that provides notification of warning information from the work vehicle.

A vehicle comprising:

• an acquisition processing unit that acquires, when a work vehicle performs autonomous travel according to a target route, distance information relating to a distance to a detection target that is detected by a detection unit on the work vehicle, and image information relating to a capture image of the detection target that is captured by an imaging unit on the work vehicle;
• a determination processing unit on the work vehicle that determines a type of the detection target based on the image information;
• and
• a countermeasure processing unit that the work vehicle to execute countermeasure processing according to the type of the detection target and the distance information, wherein
• a likelihood of the type of the detection target is calculated based on the image information, and the work vehicle is made to execute the countermeasure processing based on the calculated likelihood, wherein,
• the work vehicle is made to execute the countermeasure processing when the calculated likelihood exceeds a threshold, wherein
• the threshold is set to a smaller value as the distance becomes shorter,
• the threshold is set to a different value depending on a content of the countermeasure processing,
• the threshold is set to a first threshold when the countermeasure processing is processing that causes the work vehicle to stop while performing autonomous travel, and
• the threshold is set to a second threshold, which is larger than the first threshold, when the countermeasure processing is processing that causes the work vehicle to decelerate while performing autonomous travel, or processing that provides notification of warning information from the work vehicle.