| CPC G06V 20/56 (2022.01) [A01B 69/008 (2013.01)] | 3 Claims |
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1. An automatic travel system for a work vehicle, comprising:
an automatic travel control unit that causes the work vehicle to automatically travel, the work vehicle including an obstacle detection unit that detects obstacles, wherein
the obstacle detection unit includes an imaging unit that image-captures a set range in a predetermined direction from the work vehicle, and an active sensor that measures a set range in the same predetermined direction as the imaging unit from the work vehicle,
when the obstacle detection unit detects the obstacle from information of the imaging unit and acquires a separation distance from the obstacle from information of the active sensor, the automatic travel control unit executes first collision avoidance control to avoid a collision between the work vehicle and the obstacle on the basis of the separation distance from the obstacle acquired from the information of the active sensor, and
when the obstacle detection unit detects the obstacle from the information of the imaging unit but is not able to acquire the separation distance from the obstacle from the information of the active sensor, the automatic travel control unit executes second collision avoidance control on the basis of the separation distance from the obstacle acquired solely from the information of the imaging unit, the second collision avoidance control having a collision avoidance rate higher than the first collision avoidance control.
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