US 12,461,534 B2
Automatic traveling method, automatic traveling system, and automatic traveling program
Koji Miyake, Okayama (JP)
Assigned to Yanmar Holdings Co., Ltd., Osaka (JP)
Filed by Yanmar Holdings Co., Ltd., Osaka (JP)
Filed on Mar. 1, 2023, as Appl. No. 18/116,189.
Claims priority of application No. 2022-031820 (JP), filed on Mar. 2, 2022.
Prior Publication US 2023/0280757 A1, Sep. 7, 2023
Int. Cl. G05D 1/00 (2024.01); A01D 41/127 (2006.01)
CPC G05D 1/0238 (2013.01) [A01D 41/1278 (2013.01); G05D 1/0088 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An automatic traveling method comprising:
causing a work vehicle to automatically travel along a target route set within a field;
detecting an obstacle located on an outer periphery of the field, while the work vehicle is traveling along the target route in an outer peripheral area of the field;
in a case where the obstacle is an object to be avoided, causing the work vehicle to travel along an avoidance route that is located in the inner side of the target route in the field relative to the outer peripheral area of the field;
in a case where an operator boards the work vehicle and where a distance between the work vehicle and the obstacle becomes equal to or less than a first set distance, performing processing of determining whether the obstacle is the object to be avoided; and
in a case where an operator does not board the work vehicle and where the distance between the work vehicle and the obstacle becomes equal to or less than a second set distance being greater than the first set distance, performing processing of determining whether the obstacle is the object to be avoided.