Autonomous tractor and method to cultivate farmland using this tractor

A method to cultivate a piece of farmland with an autonomous tractor according to a cultivation plan, the tractor when cultivating the farmland operates using a standard safety mode defining a first set of conditions under which the tractor leaves the cultivation plan and switches to a safety plan, and when a human operator is present near the tractor when cultivating the piece of farmland, the tractor has the option of operating using a second safety mode, defining a second set of conditions under which the tractor leaves the cultivation plan and switches to the safety plan, wherein the second set of conditions is less stringent than the first set of conditions, wherein the method comprises:

• establishing the cultivation plan to cultivate the piece of land;
• positioning the tractor on the piece of land;
• starting the cultivation according to the established cultivation plan;
• exercising the option to use the second safety mode, when a human operator nears the tractor, allowing the human operator to act while meeting the first set of conditions, without the tractor switching to the safety plan as long as the operator does not meet the second set of conditions;
• allowing the human operator to assess a quality of the cultivation according to the cultivation plan and optionally adapting this cultivation plan to improve the quality;
• the tractor leaving the second safety mode when the human operator moves away from the tractor;
• and
• providing for the tractor cultivating the piece of land according to the cultivation plan, optionally as adapted by the human operator.