JP6971075B2 - Autonomous driving system - Google Patents

Description

The present invention relates to an automatic traveling system for automatically traveling a work vehicle along an automatic traveling route.

In the above-mentioned automatic traveling system, the current position of the working vehicle is acquired by using the satellite positioning system, and the working vehicle is automatically driven along the automatically generated automatic traveling route (see, for example, Patent Document 1). ). In such an automatic traveling system, since the work vehicle is automatically traveled along the travel route, the work can be performed by the work vehicle even if the user is not on the work vehicle.

For work vehicles used in automatic driving systems, etc., a diesel engine and an exhaust gas purification device (Diesel) that collects particulate matter (hereinafter abbreviated as "PM") contained in exhaust gas and purifies the exhaust gas. A Particulate Filter) (hereinafter abbreviated as "DPF") is provided. In the DPF, PM is deposited over time, so if the amount of PM deposited exceeds a predetermined amount, the distribution resistance in the DPF will increase, the PM collection capacity will decrease, and the engine output will decrease. It will cause problems such as invitation. Therefore, a so-called regeneration process is performed in which the PM accumulated in the DPF is burnt off and the PM collection capacity of the DPF is restored by raising the temperature of the exhaust gas (see, for example, Patent Document 2).

The one described in Patent Document 2 is not an automatic traveling system, but a user is on board a working vehicle, and the working vehicle is driven by the driving operation of the user. The regeneration process includes a low temperature side regeneration process and a high temperature side regeneration process. If the accumulated amount of PM exceeds a predetermined amount during work in the work vehicle, the low temperature side regeneration process is automatically performed. However, the amount of PM deposited may not decrease even if the low temperature side regeneration treatment is performed. In such a case, the high temperature side regeneration treatment is performed. In the high temperature side regeneration process, for example, the temperature of the exhaust gas is raised to a higher temperature than the low temperature side regeneration process by performing post injection or the like injecting fuel after the combustion stroke of the engine. The high temperature side regeneration process is not performed unless the user performs an artificial operation. In other words, after confirming the user's intention to allow the execution of the high temperature side reproduction process by the user's artificial operation, the high temperature side reproduction process is performed. I try to do it.

International Publication No. 2015/119263 Japanese Patent No. 5155979

In the automatic traveling system described in Patent Document 1, since the user is not on board the work vehicle, the timing at which the high temperature side regeneration process should be performed, such as when the PM accumulation amount does not decrease even if the low temperature side regeneration process is performed. , The user cannot perform artificial operations. Therefore, the reproduction process cannot be performed at an appropriate timing, and there is a possibility that the PM collection capacity is lowered and the engine output is lowered.

Further, as the high temperature side regeneration process, there is also a regeneration process that needs to be performed with the work vehicle stopped. When such a reproduction process is performed, the work by the work vehicle may be interrupted and the work efficiency may be lowered. Therefore, in an automatic traveling system for automatically traveling a work vehicle, the problem is at what timing the reproduction process is performed.

In view of this situation, a main problem of the present invention is to provide an automatic traveling system capable of automatically traveling a vehicle body such as a work vehicle while performing regeneration processing at an appropriate timing.

The first characteristic configuration of the present invention is an automatic traveling control for automatically traveling the vehicle body along an automatic traveling path, and a regeneration process for removing particulate matter collected by an exhaust gas purifying device for purifying the exhaust gas of an engine. Equipped with a control unit that can execute
As the regeneration process, the control unit includes a first regeneration process for removing particulate matter without the condition of stopping the vehicle body and a second regeneration process for removing the particulate matter with the condition of stopping the vehicle body. Feasible and
The control unit is configured to prohibit the start of the automatic driving control at least in a situation where it is necessary to perform the second reproduction process.

According to this configuration, if it is necessary to perform at least the second reproduction process, the control unit prohibits the start of the automatic driving control. Therefore, before starting the automatic traveling control, the second reproduction is performed in advance. Processing can be performed. As a result, the subsequent automatic traveling control can be appropriately performed, so that the vehicle body of the work vehicle or the like can be automatically traveled while the reproduction process can be performed at an appropriate timing.

The second characteristic configuration of the present invention predicts that the control unit will need to perform the second regeneration process during the execution of the automatic driving control before starting the automatic driving control, at least the first. 2 It is determined that it is necessary to perform the reproduction process.

Even if it is not necessary to perform the second reproduction process before starting the automatic driving control, it may be necessary to perform the second reproduction process during the execution of the automatic driving control thereafter. Therefore, according to this configuration, if it can be predicted that the control unit will need to perform the second reproduction process during the execution of the automatic drive control before starting the automatic drive control, the control unit performs at least the second reproduction process. Judging that this is a necessary situation, the start of automatic driving control is prohibited. As a result, even if it is necessary to perform the second reproduction process during the execution of the automatic driving control, the second reproduction process can be performed in advance before the start of the automatic driving control, so that the reproduction process can be performed at an appropriate timing. While it can be performed at, automatic driving control can be appropriately performed.

The third characteristic configuration of the present invention is that the control unit determines a grace time until the timing at which the second regeneration process should be performed and a planned travel time for the vehicle body to automatically travel on the automatic travel route by the automatic travel control. In comparison, when the grace time is less than the scheduled travel time, it is predicted that it is necessary to perform the second reproduction process during the execution of the automatic travel control.

If the grace time until the timing for performing the second reproduction process falls below the scheduled travel time, it is necessary to perform the second reproduction process during the execution of the automatic driving control. Although it has a relatively simple configuration of comparing with the traveling time, it is possible to appropriately predict whether or not it is necessary to perform the second reproduction process during the execution of the automatic traveling control. As a result, based on an appropriate prediction, the second reproduction process can be performed in advance before starting the automatic driving control, so that the second reproduction process can be performed at the optimum timing.

The fourth characteristic configuration of the present invention includes the first route in which the execution of the second regeneration process is prohibited and the second route in which the execution of the second regeneration process is not prohibited in the automatic traveling route. NS,
The control unit is configured to execute the second regeneration process when the vehicle body is positioned on the second path during the execution of the automatic traveling control.

According to this configuration, the control unit does not perform the second regeneration process when the vehicle body is located on the first path while the automatic driving control is being executed, and the second regeneration process is performed when the vehicle body is located on the second path. I do. As a result, the automatic driving route can be divided into the first route and the second route according to various conditions such as the work situation and the surrounding situation by the automatic driving control, so that the vehicle body performs the second regeneration process. It is possible to improve work efficiency while performing the second regeneration process when the route is located on a suitable route.

In the fifth feature configuration of the present invention, in the automatic running control, the reference engine rotation speed is set in advance with respect to the automatic running path, and the control unit performs the first reproduction during the execution of the automatic running control. The point is that the reference engine rotation speed can be changed to the engine rotation speed for the first regeneration processing when the processing needs to be performed.

According to this configuration, the control unit can change the reference engine rotation speed to the engine rotation speed for the first regeneration processing when it is necessary to perform the first regeneration processing during the execution of the automatic driving control. The first regeneration process can be performed after changing the engine speed to be suitable for performing the regeneration process. As a result, the first regeneration process can be appropriately performed, so that the PM deposited on the DPF can be appropriately burned off.

The sixth characteristic configuration of the present invention includes a wireless communication terminal capable of wireless communication with the control unit and having an artificially operated operation unit that permits execution of the second reproduction process.
The control unit is configured to be able to execute the second reproduction process when the operation unit of the wireless communication terminal is operated.

According to this configuration, since the wireless communication terminal is provided with an artificially operated operation unit that permits execution of the second reproduction process, the user can use the operation unit depending on whether or not the operation unit is operated by the user. 2 It is possible to determine whether or not the execution of the reproduction process is permitted. The control unit executes the second reproduction process on the assumption that the user's intention to permit the execution of the second reproduction process is confirmed when the operation unit of the wireless communication terminal is operated. Therefore, the control unit executes the second reproduction process. It can be executed at an appropriate timing.

The figure which shows the schematic structure of the automatic driving system Block diagram showing the schematic configuration of the autonomous driving system Diagram showing an example of an automatic driving route Schematic diagram showing the schematic configuration of intake and exhaust of an engine Flowchart showing operation when performing automatic driving control and playback processing Flowchart showing operation in reset playback control Flowchart showing operation in parking regeneration control The figure which shows the display screen displayed on the display part of a wireless communication terminal. The figure which shows the display screen displayed on the display part of a wireless communication terminal. The figure which shows the display screen displayed on the display part of a wireless communication terminal.

An embodiment of the automatic traveling system according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, the automatic traveling system 1 instructs a tractor 2 as a work vehicle that automatically travels along automatic traveling paths K1 and K2 (see FIG. 3) and various information to the tractor 2. A possible wireless communication terminal 3 is provided. Then, in this embodiment, the reference station 4 for acquiring the position information of the tractor 2 is provided.

The tractor 2 is provided with a vehicle body 6 to which a working machine 5 can be mounted on the rear side, the front portion of the vehicle body 6 is supported by a pair of left and right front wheels 7, and the rear portion of the vehicle body 6 is supported by a pair of left and right rear wheels 8. .. A bonnet 9 is arranged at the front of the vehicle body 6, and an engine 10 (diesel engine) as a drive source is housed in the bonnet 9. An exhaust gas purification device 11 (hereinafter, abbreviated as "DPF") that collects particulate matter (hereinafter, abbreviated as "PM") contained in the exhaust gas and purifies the exhaust gas on the upper part of the engine 10. Is provided. The DPF 11 is arranged in the bonnet 9 in a posture extending in a direction parallel to or orthogonal to the axial direction of the output shaft of the engine 10. A cabin 12 for the user to board is provided on the rear side of the bonnet 9, and a steering handle 13 for the user to steer, a driver's seat 14 for the user, and the like are provided in the cabin 12. ..

In FIG. 1, the tractor 2 is illustrated as a work vehicle, but in addition to the tractor, a walking type work vehicle can be applied in addition to a passenger type work vehicle such as a rice transplanter, a combine, a civil engineering / construction work device, and a snowplow.

As shown in FIG. 2, the tractor 2 is provided with a vehicle-side wireless communication unit 25, the wireless communication terminal 3 is provided with a terminal-side wireless communication unit 31, and the reference station 4 is provided with a reference station-side wireless communication unit 41. ing. Various information can be transmitted and received between the tractor 2 and the wireless communication terminal 3 by wireless communication between the vehicle-side wireless communication unit 25 and the terminal-side wireless communication unit 31, and the vehicle-side wireless communication unit 25 and the reference station. Various information can be transmitted and received between the tractor 2 and the reference station 4 by wireless communication with the side wireless communication unit 41. The wireless communication terminal 3 and the reference station 4 are configured to be able to transmit and receive various information via the tractor 2. By the way, the wireless communication terminal 3 and the reference station 4 can directly transmit and receive various information without going through the tractor 2 by wireless communication between the terminal side wireless communication unit 31 and the reference station side wireless communication unit 41. You can also. The frequency band used for wireless communication between the wireless communication units may be a common frequency band or may be a different frequency band from each other.

As shown in FIG. 2, the tractor 2 has a positioning antenna 21, a vehicle-side control unit 22, a DPF regeneration control unit 23, a position information acquisition unit 24, a vehicle-side wireless communication unit 25, a vehicle-side regeneration switch 26, and a storage unit. (Not shown) and the like are provided. The vehicle-side control unit 22 prepares for the tractor 2 of the engine control device, transmission device, steering device, etc. (not shown) while acquiring its own current position information (current position of the tractor 2) by the position information acquisition unit 24. It is configured to be able to automatically travel the tractor 2 by controlling various devices. Further, the tractor 2 is provided with an inertial measurement unit (not shown) having a three-axis gyro and a three-direction accelerometer, and the vehicle-side control unit 22 determines the tractor 2 based on the measurement information of the inertial measurement unit. It is configured to be able to detect the posture of the vehicle and the direction of travel. Although not shown, the vehicle-side regeneration switch 26 is arranged near the steering wheel 13, for example, on the side of the steering handle 13.

As shown in FIG. 1, the positioning antenna 21 is configured to receive, for example, a signal from a positioning satellite 15 constituting a satellite positioning system (GNSS). The positioning antenna 21 is arranged, for example, on the upper surface of the roof of the cabin 12 of the tractor 2.

As a positioning method using a satellite positioning system, as shown in FIG. 1, a reference station 4 installed at a predetermined reference point is provided, and satellite positioning of the tractor 2 (mobile station) is performed based on the positioning correction information from the reference station 4. It is possible to apply a positioning method for obtaining the current position of the tractor 2 by correcting the information. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, as for the positioning method, it is also possible to use independent positioning without providing the reference station 4.

In this embodiment, for example, since RTK positioning is applied, as shown in FIGS. 1 and 2, the tractor 2 on the mobile station side is provided with the positioning antenna 21 and the reference station 4 is provided. Has been done. The position information of the reference point, which is the installation position of the reference station 4, is set and grasped in advance. The reference station 4 is arranged at a position (reference point) that does not interfere with the running of the tractor 2, such as around the field. The reference station 4 is provided with a reference station side wireless communication unit 41 and a reference station positioning antenna 42.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 15 is measured by both the reference station 4 installed at the reference point and the positioning antenna 21 of the tractor 2 on the mobile station side for which position information is to be obtained. doing. The reference station 4 generates positioning correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 15 or every time the setting cycle elapses, and the reference station side radio Positioning correction information is transmitted from the communication unit 41 to the vehicle-side wireless communication unit 25 of the tractor 2. The position information acquisition unit 24 of the tractor 2 corrects the satellite positioning information measured by the positioning antenna 21 by using the positioning correction information transmitted from the reference station 4, and obtains the current position information of the tractor 2. The position information acquisition unit 24 requests, for example, latitude information / longitude information as the current position information of the tractor 2.

The wireless communication terminal 3 is composed of, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel. By operating the touch panel, various information can also be input. The wireless communication terminal 3 can be carried and used by the user outside the tractor 2, and can also be mounted on the side of the driver's seat 14 of the tractor 2 and used.

As shown in FIG. 2, the wireless communication terminal 3 is provided with a terminal-side wireless communication unit 31, a terminal-side control unit 32, a route generation unit 33, a display unit 34, a playback switch 35, and the like. The route generation unit 33 is configured to generate automatic travel paths K1 and K2 (see FIG. 3) in which the tractor 2 automatically travels. Further, the wireless communication terminal 3 is provided with a storage unit (not shown), and various information such as information registered by the user is stored in this storage unit.

When the tractor 2 is automatically traveled, the user operates the touch panel or the like of the wireless communication terminal 3 to generate information for generating the automatic traveling routes K1 and K2 such as information on the field area, the tractor 2 and the working machine 5. I have registered. The route generation unit 33 of the wireless communication terminal 3 generates automatic travel routes K1 and K2 on which the tractor 2 automatically travels based on registration information and the like. For example, as shown in FIG. 3, the route generation unit 33 is set as automatic traveling paths K1 and K2 in the field H from the straight road K1 and the straight road K1 for performing work such as tilling while automatically traveling the tractor 2. A turning circuit K2 for turning the tractor 2 on the next straight road K1 is generated. The automatic traveling routes K1 and K2 shown in FIG. 3 are merely examples, and what kind of automatic traveling routes K1 and K2 are generated by the route generation unit 33 can be appropriately changed.

When the route generation unit 33 generates the automatic traveling routes K1 and K2, information about the field H such as the shape and position information of the field H is registered first. Then, in the field H, as the area for generating the automatic traveling paths K1 and K2, a work area R1 for performing work such as tilling and a non-work area R2 (headland) for not performing work are specified. The route generation unit 33 generates a straight path K1 for the work area R1 and generates a turning circuit K2 in the non-work area R2. The straight road K1 is a route that automatically travels from one end side to the other end side in the work area R1 in the field H, and the straight road K1 covers the entire work area R1 from the start point S to the goal point G. It is generated so that a plurality of them are lined up adjacent to each other in the width direction of H. The turning circuit K2 is generated as a path for turning the tractor 2 by connecting the ends thereof in two straight roads K1 arranged in the width direction of the field H.

In this way, when the route generation unit 33 generates the automatic traveling routes K1 and K2, the terminal side control unit 32 of the wireless communication terminal 3 transmits the route information regarding the automatic traveling routes K1 and K2 from the wireless communication terminal 3 to the tractor 2. By transferring, the vehicle-side control unit 22 of the tractor 2 can acquire the route information. The vehicle-side control unit 22 acquires its own current position information (current position of the tractor 2) by the position information acquisition unit 24 based on the acquired route information, and the tractor 2 is along the automatic traveling routes K1 and K2. Can be automatically driven. The current position information of the tractor 2 acquired by the position information acquisition unit 24 is transmitted from the tractor 2 to the wireless communication terminal 3 in real time (for example, in a cycle of several seconds), and the current position of the tractor 2 is transmitted by the wireless communication terminal 3. I try to figure out.

Here, in generating the automatic traveling paths K1 and K2, the reference engine rotation speed and the reference vehicle speed of the tractor 2 are set for each of the straight road K1 and the turning circuit K2. The reference engine rotation speed for the straight road K1 and the reference vehicle speed for the tractor 2 and the reference engine rotation speed for the turning circuit K2 and the reference vehicle speed for the tractor 2 are set to the same engine rotation speed or vehicle speed, or at different engine rotation speeds or vehicle speeds. Can be set. The engine rotation speed setting information indicating the reference engine rotation speed and the vehicle speed information indicating the reference vehicle speed of the tractor 2 are configured to enable wireless communication from the wireless communication terminal 3 to the tractor 2 together with the route information.

Further, in generating the automatic traveling routes K1 and K2, it is possible to set the work contents and the like of what kind of work is to be performed, and in the route generation unit 33, various kinds of set work contents, route information and the like can be set. Based on the information, the scheduled work time required for the work when the tractor 2 is automatically driven along the generated automatic traveling paths K1 and K2 is obtained. The scheduled work time information indicating the scheduled work time is configured to enable wireless communication from the wireless communication terminal 3 to the tractor 2 together with the route information.

In the wireless communication terminal 3, when the user operates the touch panel to instruct the start of automatic traveling, the wireless communication terminal 3 transmits the instruction to start automatic traveling to the tractor 2. As a result, in the tractor 2, the vehicle-side control unit 22 receives an instruction to start automatic driving, and the position information acquisition unit 24 acquires its own current position information (current position of the tractor 2) while automatically traveling. It is configured to perform automatic traveling control for automatically traveling the tractor 2 along the routes K1 and K2.

As described above, as shown in FIG. 1, the engine 10 is arranged in the bonnet 9 of the tractor 2, and the tractor 2 is provided with a DPF 11 that collects PM contained in the exhaust gas of the engine 10 and purifies the exhaust gas. Has been done. Hereinafter, a schematic configuration of intake and exhaust of the engine 10 will be described with reference to FIG.

The engine 10 includes an intake passage 51 that sucks air from the outside, a combustion chamber 52 that burns fuel, and an exhaust passage 53 that exhausts exhaust gas from the combustion chamber 52 to the outside. Incidentally, although FIG. 4 shows a 4-cylinder engine 10 having four combustion chambers 52, the number of combustion chambers 52 can be changed as appropriate. In the intake passage 51, an intake valve 54 and an intake manifold 55 are arranged in order from the upstream side in the air flow direction. The intake valve 54 is configured to be able to adjust the amount of air supplied to the combustion chamber 52, and the intake manifold 55 is configured to distribute and supply the intake air to each of the plurality of combustion chambers 52. ..

The engine 10 is provided with a common rail 56 and an injector 57 to supply fuel to the combustion chamber 52. Fuel is pumped to the common rail 56 by a fuel pump (not shown). The injector 57 is arranged in each combustion chamber 52, and the fuel stored at high pressure on the common rail 56 is ejected to each combustion chamber 52 at a predetermined timing.

An exhaust manifold 58, an exhaust valve 59, and a DPF 11 are arranged in the exhaust passage 53 in order from the upstream side in the flow direction of the exhaust gas. The exhaust manifold 58 is configured to collectively exhaust the exhaust gas generated in each combustion chamber 52, and the exhaust valve 59 is configured to be able to adjust the displacement of the exhaust gas discharged to the outside of the engine 10. ing.

The DPF 11 includes an oxidation catalyst 11a and a soot filter 11b in this order from the upstream side in the flow direction of the exhaust gas, and the oxidation catalyst 11a and the soot filter 11b are housed in the casing. The oxidation catalyst 11a is configured to promote the oxidation of carbon monoxide, nitric oxide and the like contained in the exhaust gas. The soot filter 11b is configured to collect particulate matter (PM) such as soot contained in the exhaust gas, and is configured to burn and remove the PM collected and accumulated by the soot filter 11b. ing.

The engine 10 includes an EGR device 60, and is configured so that a part of the exhaust gas can be returned to the intake side. The EGR device 60 includes an EGR path 61 that recirculates a part of the exhaust gas of the exhaust path 53 to the intake path 51. In the EGR path 61, an EGR cooler 62 for cooling the recirculated exhaust gas and an EGR valve 63 for adjusting the recirculation amount of the exhaust gas are arranged in order from the upstream side in the flow direction of the exhaust gas.

The engine 10 is provided with various sensors. As sensors, for example, an engine rotation speed sensor 64 that detects the rotation speed of the engine 10, an oxidation catalyst temperature sensor 65 that detects the temperature on the upstream side of the oxidation catalyst 11a in the DPF 11, and a temperature on the upstream side of the soot filter 11b in the DPF 11 are detected. The soot filter temperature sensor 66 and the differential pressure sensor 67 for detecting the differential pressure between the upstream side and the downstream side of the soot filter 11b in the DPF 11 are provided.

The vehicle-side control unit 22 uses the detection information of various sensors, a preset map, and the like to supply air by the intake valve 54, exhaust amount by the exhaust valve 59, fuel injection timing by the injector 57, and fuel. By controlling the injection amount, the recirculation amount by the EGR valve 63, and the like, the output state of the engine 10 is set to a predetermined output state. The vehicle-side control unit 22 has, for example, an air supply amount by the intake valve 54, an exhaust amount by the exhaust valve 59, and an injector 57 so that the engine rotation speed detected by the engine rotation speed sensor 64 becomes a predetermined engine rotation speed. The fuel injection timing, the fuel injection amount, the recirculation amount by the EGR valve 63, and the like are controlled.

As described above, PM is collected by the soot filter 11b in the DPF 11, so that PM is deposited on the soot filter 11b. Therefore, the vehicle-side control unit 22 is subjected to so-called regeneration processing, in which the PM accumulated on the soot filter 11b in the DPF 11 is burnt off and removed to restore the PM collection capacity of the DPF by raising the temperature of the exhaust gas. A control unit 23 (see FIGS. 2 and 4) is provided.

The DPF regeneration control unit 23 is configured to be able to execute an assist regeneration process, a reset regeneration process, and a parking regeneration process as the regeneration process. Incidentally, since the vehicle side control unit 22 controls the engine 10 so that the output state of the engine 10 becomes a predetermined output state (output state suitable for work), the temperature of the exhaust gas of the engine 10 (for example, for example). The temperature detected by the oxidation catalyst temperature sensor 65) may be high enough to burn and remove PM. In such a case, the vehicle-side control unit 22 normally operates the engine 10, so that the PM deposited on the soot filter 11b in the DPF 11 is naturally removed by combustion. Therefore, even if the engine 10 is normally operated by the vehicle-side control unit 22, if the PM accumulated on the soot filter 11b in the DPF 11 cannot be burnt off and removed, the regeneration process is performed by the DPF regeneration control unit 23.

In the assist regeneration process, the DPF regeneration control unit 23 adjusts the opening degree of the intake valve 54 to the throttle side, and sets the injection timing of the injector 57 to the after injection side after the main injection, so that the temperature inside the DPF 11 ( For example, the detection temperature of the oxidation catalyst temperature sensor 65 or the soot filter temperature sensor 66 is controlled to a set temperature (for example, 250 ° C to 500 ° C).

In the reset regeneration process (corresponding to the first regeneration process), the DPF regeneration control unit 23 injects fuel (post-injection) into the combustion chamber 52 by the injector 57 after the combustion step in addition to the assist regeneration process. The temperature inside the DPF 11 (for example, the detection temperature of the oxidation catalyst temperature sensor 65 and the soot filter temperature sensor 66) is controlled to be equal to or higher than the set temperature (for example, about 560 degrees). The DPF regeneration control unit 23 ends the reset regeneration process when a set time (for example, 30 minutes) has elapsed from the start of the reset regeneration process.

In the parking regeneration process (corresponding to the second regeneration process), the DPF regeneration control unit 23 sets the engine rotation speed to the high idle engine rotation speed in addition to the reset regeneration process while the tractor 2 is stopped. By increasing the engine speed, the temperature inside the DPF 11 (for example, the detection temperature of the oxidation catalyst temperature sensor 65 or the soot filter temperature sensor 66) is controlled to be equal to or higher than the set temperature (for example, about 600 degrees). The DPF regeneration control unit 23 ends the parking regeneration process when the set time (for example, 30 minutes) has elapsed from the start of the parking regeneration.

Regarding the priority of which process to execute, the assist regeneration process, the reset regeneration process, or the parking regeneration process, the DPF regeneration control unit is used when the PM accumulation amount of the suit filter 11b does not decrease even if the assist regeneration process is performed. 23 is configured to perform a reset regeneration process. Further, when the PM accumulation amount of the suit filter 11b does not decrease even if the reset regeneration process is performed, the DPF regeneration control unit 23 is configured to perform the parking regeneration process.

A method of obtaining the PM deposition amount of the soot filter 11b will be described.
The relationship between the PM deposition amount and the differential pressure between the upstream side and the downstream side of the soot filter 11b is preset by experiments or the like. The vehicle side control unit 22 (DPF regeneration control unit 23) uses the relationship of the PM accumulation amount with respect to the preset differential pressure, and based on the detection information of the differential pressure sensor 67, the PM accumulation amount information indicating the PM accumulation amount. Can be obtained. Further, the PM deposition amount can be obtained by subtracting the regeneration amount of the PM burned and removed in the DPF 11 from the PM discharge amount discharged from the engine 10. Since the PM emission amount and the PM regeneration amount differ depending on the output state of the engine 10, the PM emission amount and the PM regeneration amount with respect to the output state of the engine 10 are measured by experiments and the like. Relationships can be set in advance. As a result, the vehicle-side control unit 22 (DPF reproduction control unit 23) relates to the output state of the engine 10, such as the detection information of the engine rotation speed sensor 64 and the reference engine rotation speed set for the automatic traveling paths K1 and K2. By acquiring the information, it is possible to acquire PM accumulation amount information indicating the PM accumulation amount by using the relationship between the PM emission amount and the PM regeneration amount with respect to the preset output state of the engine 10.

In this automatic driving system 1, the vehicle-side control unit 22 (corresponding to the control unit) performs automatic driving control to automatically drive the tractor 2 (vehicle body 6) along the automatic traveling paths K1 and K2, thereby performing the tractor 2 Various operations such as tilling in the field H (FIG. 3) can be performed without the user boarding the vehicle. When performing automatic driving control, the vehicle-side control unit 22 needs to perform the above-mentioned regeneration process as necessary.

Therefore, hereinafter, based on the flowchart of FIG. 5, how to perform the reproduction process when the tractor 2 is automatically driven will be described. Before the vehicle-side control unit 22 starts the automatic driving control, the operation shown in the flowchart of FIG. 5 is performed in a state where the route information regarding the automatic traveling paths K1 and K2 is acquired.

By the way, although not shown in FIG. 5, in the assist regeneration process, the PM accumulation amount becomes the set amount or more before the start of the automatic running control of the tractor 2 and during the execution of the automatic running control of the tractor 2. The vehicle-side control unit 22 performs assist regeneration processing by the DPF regeneration control unit 23. Then, when it becomes necessary to perform the reset regeneration process and the parking regeneration process during the execution of the assist regeneration process by the DPF regeneration control unit 23, the assist regeneration process is shifted to the reset regeneration process and the parking regeneration process. It is configured as follows.

First, before starting the automatic driving control, the vehicle-side control unit 22 determines whether or not there is a possibility that the reset reproduction or parking reproduction condition is satisfied during the execution of the automatic driving control (step #). 1). Before starting the automatic driving control, the vehicle side control unit 22 indicates PM accumulation amount information indicating the DPF accumulation amount of the soot filter 11b in the DPF 11, and the reference engine rotation speed set for the automatic driving paths K1 and K2. Based on the engine speed setting information and the scheduled travel time information indicating the scheduled travel time for the tractor 2 to automatically travel on the automatic travel routes K1 and K2 by the automatic travel control, reset playback or parking is performed during the execution of the automatic travel control. It is determined whether or not the reproduction condition may be satisfied.

The reset reproduction condition is, for example, a condition that the PM accumulation amount does not become less than the set amount even if the assist reproduction process is executed, or a reset reproduction process every time the cumulative drive time of the engine 10 elapses for the set time (for example, 100 hours). It can be set to include the conditions for performing the above. The parking regeneration condition can be set to include, for example, a condition in which the PM accumulation amount does not become less than the set amount even if the reset regeneration process is executed.

The vehicle-side control unit 22 obtains a grace time until the timing for performing the parking regeneration process is reached based on the PM accumulation amount information, the engine rotation speed setting information, and the like, and the grace time and the scheduled running time ( By comparing with the scheduled running time information), it is determined that the parking regeneration condition may be satisfied when the grace time is less than the scheduled running time. When the vehicle side control unit 22 determines that the parking regeneration condition may be satisfied, the automatic driving is prohibited, and the state of prohibiting the automatic driving is maintained until the PM accumulation amount is reduced to less than the set amount. (In the case of Yes of parking regeneration in step # 1, step # 2, step # 3). In this case, the vehicle-side control unit 22 may output a display control signal for displaying a display indicating that automatic driving is prohibited on the display unit 34 of the wireless communication terminal 3. As a result, in the wireless communication terminal 3, the display unit 34 displays that the automatic traveling is prohibited, so that the user can recognize that the automatic traveling is prohibited.

When it is determined in step # 1 that the parking regeneration condition may be satisfied, the user manually operates the tractor 2 to raise the temperature of the exhaust gas to burn off the PM and deposit the PM. By reducing the amount to less than the set amount, it is possible to return to step # 1. If it is determined in step # 1 that the parking regeneration condition may be satisfied, the vehicle-side control unit 22 may execute the parking regeneration control in the same manner as in step # 8 described later. Even if the parking regeneration condition is not satisfied, if there is a high possibility that the parking regeneration condition will be satisfied after that, by executing the parking regeneration control before starting the automatic driving, PM is burned and removed more reliably. It is possible to do.

In this way, if the vehicle side control unit 22 predicts that it will be necessary to perform the parking regeneration process (second regeneration process) during the execution of the automatic drive control before starting the automatic drive control, at least the parking regeneration process is performed. The start of automatic driving control is prohibited because it is a situation where it is necessary to perform processing. That is, the vehicle side control unit 22 prohibits the start of the automatic driving control, assuming that at least the parking regeneration processing needs to be performed when the automatic driving prohibition condition regarding the parking regeneration processing is satisfied. There is.

Here, the vehicle-side control unit 22 may satisfy the parking regeneration condition by comparing the grace time until the timing for performing the parking regeneration processing and the scheduled traveling time (scheduled traveling time information). Although it is determined whether or not, for example, it is also possible to determine whether or not the parking regeneration condition may be satisfied depending on the magnitude of the engine load applied to the engine 10 when the automatic driving control is executed. .. When the engine load applied to the engine 10 becomes large, the temperature of the exhaust gas also rises, and the PM accumulation amount tends to decrease. Therefore, when the engine 10 is not loaded with a load equal to or greater than a predetermined load when the automatic driving control is executed (for example, when the work content for performing the automatic driving control is a work content with a small engine load), parking regeneration is performed. It can be determined that the condition may be satisfied.

In step # 1 of FIG. 5, the vehicle-side control unit 22 obtains a grace time until the timing for performing the reset regeneration process is reached based on the PM accumulation amount information and the engine rotation speed setting information. The grace time and the scheduled running time (scheduled running time information) are compared, and it is determined that the reset reproduction condition may be satisfied when the grace time is less than the scheduled running time. When the vehicle side control unit 22 determines that the reset reproduction condition may be satisfied, the display unit 34 of the wireless communication terminal 3 displays a display indicating that the reset reproduction condition may be satisfied. A control signal is output (in the case of Yes of reset reproduction in step # 1, step # 4). After that, when the user operates the touch panel on the wireless communication terminal 3 to instruct the start of automatic driving, the vehicle side control unit 22 starts automatic driving control and automatically drives the tractor 2 (step #). In the case of Yes of 5, step # 6).

In this way, when the vehicle side control unit 22 predicts that it will be necessary to perform the reset reproduction process during the execution of the automatic driving control before starting the automatic driving control, the predicted content is transmitted to the wireless communication terminal 3. It is displayed on the display unit 34 so that the user can recognize the predicted content.

By the way, the determination of whether or not the reset regeneration condition may be satisfied is not limited to the comparison between the grace time and the scheduled running time, as in the parking regeneration condition, for example, the magnitude of the engine load, etc. Based on other conditions, it is possible to determine whether or not the reset reproduction condition may be satisfied.

When the vehicle-side control unit 22 determines that there is no possibility that both the reset reproduction condition and the parking reproduction condition are satisfied (No in step # 1), the user touches the touch panel on the wireless communication terminal 3. When the vehicle side control unit 22 is instructed to start automatic driving, the vehicle side control unit 22 starts automatic driving control and automatically performs automatic driving of the tractor 2 (in the case of Yes in step # 5, step # 6). By the way, when the vehicle side control unit 22 determines that there is no possibility that both the reset regeneration condition and the parking regeneration condition are satisfied, there is a possibility that both the reset regeneration condition and the parking regeneration condition are satisfied. A display control signal for displaying a display indicating that there is no display on the display unit 34 of the wireless communication terminal 3 may be output.

The vehicle-side control unit 22 determines whether or not the reset reproduction or parking reproduction condition is satisfied during the execution of the automatic driving control (step # 7).

When the vehicle side control unit 22 determines that the parking regeneration condition is satisfied, the parking regeneration control is executed, and the state of executing the parking regeneration control is maintained until the PM accumulation amount is reduced to less than the set amount. (In the case of Yes of parking reproduction in step # 7, step # 8, step # 9).

Here, the parking regeneration control will be described.
First, the display and the like when performing parking reproduction control will be described. When the parking reproduction condition is satisfied, the vehicle side control unit 22 wirelessly transmits a display control signal for displaying the reproduction switch 35 (see FIG. 2). It is transmitted to the communication terminal 3. When the wireless communication terminal 3 receives the display control signal, the display unit 34 displays the reproduction switch 35, so that the reproduction switch 35 appears.

For example, in the wireless communication terminal 3, when the display control signal is received, the display screen shown in FIG. 8 is displayed on the display unit 34. On the display screen shown in FIG. 8, route information such as the automatic traveling route K1 and the current position of the tractor 2 are displayed in the center of the display screen, and the start icon 36 for instructing the start of automatic traveling and the stop of automatic traveling are instructed. The stop icon 37 is displayed on the upper side of the display screen. Further, on the display screen, various other information is displayed, and icons and the like for instructing various operations are also displayed. When the parking reproduction condition is satisfied and automatic driving becomes impossible, the start icon 36 is displayed in a predetermined color (for example, gray) on the display screen shown in FIG. 8, and the start of automatic driving cannot be commanded. , The icon 38 located at the lower left end is displayed so as to be distinguishable from other icons (for example, it is displayed in red). At this time, when the icon 38 is pressed by the user, the display unit 34 shifts from the display screen shown in FIG. 8 to the display screen shown in FIG. The playback switch 35) is displayed. By the way, on the display screen shown in FIG. 9, the DPF icon 39 is displayed so as to be distinguishable from other icons (for example, it is displayed in red), and the user can confirm the detailed contents by pressing and operating the DPF icon 39. It will move to the display screen.

Further, the vehicle-side control unit 22 not only causes the display unit 34 of the wireless communication terminal 3 to display the reproduction switch 35 when the parking reproduction condition is satisfied, but also includes the vehicle-side reproduction switch 26 provided in the tractor 2. The light emitting part blinks and emits light. That is, when the parking reproduction condition is satisfied, the vehicle-side reproduction switch 26 of the tractor 2 blinks, and the reproduction switch 35 appears on the display unit 34 of the wireless communication terminal 3.

When any of the reproduction switches is operated while the vehicle side reproduction switch 26 is blinking and the reproduction switch 35 is displayed, the vehicle side reproduction switch 26 is lit and displayed to execute the parking reproduction process. In addition, as shown in the display screen shown in FIG. 10, a parking regeneration execution message indicating that the parking regeneration process is being executed is displayed on the display unit 34. Then, when the parking regeneration process is completed, the vehicle-side regeneration switch 26 is turned off, and the display of the parking regeneration execution message on the display unit 34 ends. In the present embodiment, the reproduction switch 35 is not displayed on the display unit 34 during the execution of the parking reproduction process, but is different from the mode before the execution of the parking reproduction process (for example, blinking display) (for example, lighting display). It may be displayed on the display unit 34 with, and the display on the display unit 34 may be terminated when the parking regeneration process is completed.

The operation of the parking regeneration control will be described with reference to FIG. 7. Incidentally, in the following description, it is assumed that the user is not on board the tractor 2, and the user's operation on the reproduction switch 35 is determined in a predetermined step, but the user's operation on the vehicle side reproduction switch 26 is also determined. It may be determined at the same time.

The vehicle-side control unit 22 determines whether or not the current position of the tractor 2 is located in the turning circuit K2, and if the current position of the tractor 2 is not located in the turning circuit K2, the playback switch 35 is set by the user. It is confirmed whether or not it is operated (in the case of No in step # 31, step # 32). When the vehicle side control unit 22 confirms that the regeneration switch 35 is operated and confirms that the current position of the tractor 2 has reached the turning circuit K2, the vehicle side control unit 22 stops the automatic traveling and parks by the DPF regeneration control unit 23. The reproduction process is performed (in the case of Yes in step # 32, in the case of Yes in step # 33, step # 34 and step # 37).

In step # 31, when the vehicle side control unit 22 stops the automatic traveling when the current position of the tractor 2 is located on the turning circuit K2 and confirms that the reproduction switch 35 is operated, the DPF regeneration control is performed. The parking regeneration process is performed by the unit 23 (in the case of Yes in step # 31, step # 35, in the case of Yes in step # 36, step # 37).

In this way, in the parking regeneration control, if the vehicle side control unit 22 can confirm the operation of the regeneration switch 35 by the user when the current position of the tractor 2 is located on the turning circuit K2, the DPF regeneration control unit 23 The parking regeneration process is being carried out. The automatic traveling paths K1 and K2 include the straight road K1 and the turning circuit K2, but the straight road K1 is set as the first route where the execution of the parking regeneration processing is prohibited, and the turning circuit K2 is used for the parking regeneration processing. It is set to the second route whose execution is not prohibited. Then, the vehicle side control unit 22 performs the parking regeneration process when the current position of the tractor 2 is located on the turning circuit K2 (second path). As a result, on the straight road K1 where the work is performed by the tractor 2, the vehicle side control unit 22 does not execute the parking regeneration process, so that the work is not interrupted and the parking is performed while improving the work efficiency. Reproduction processing can be performed. Further, the vehicle-side control unit 22 prohibits the execution of the parking reproduction process when the reproduction switch 35 (corresponding to the operation unit) of the wireless communication terminal 3 is not operated. Since the parking regeneration process temporarily stops the automatic traveling of the tractor 2, the intention of the user is confirmed. If the user does not manually operate the playback switch 35, the parking playback process is not performed, and after confirming the user's intention to allow the user to execute the parking playback process by the manual operation of the playback switch 35, the parking playback process is performed. I am trying to process it.

Further, the timing of performing the parking regeneration process is assumed to be when the current position of the tractor 2 is located on the turning circuit K2. For example, in the turning circuit K2, a point where the traveling direction of the tractor 2 is reversed (for example, the tractor). The parking regeneration process may be performed when the tractor 2 is located at a point where the posture of 2 is along the direction orthogonal to the straight road K1). In this way, not only can the parking regeneration process be performed at any point over the entire length of the turning circuit K2, but also the tractor 2 is positioned at some of the preset points in the turning circuit K2. It is also possible to perform the parking regeneration process only when the parking is performed.

Returning to FIG. 5, in step # 7, when the vehicle-side control unit 22 determines that the reset reproduction condition is satisfied, the reset reproduction control is performed (step # 10). The vehicle side control unit 22 confirms whether or not the PM accumulation amount is reduced to less than the set amount by performing the reset reproduction control (step # 11). When the PM accumulation amount is reduced to less than the set amount, the vehicle side control unit 22 returns to step # 6 and continues the automatic driving control (in the case of Yes in step # 11). The vehicle-side control unit 22 performs the above-mentioned parking regeneration control (see FIG. 7) when the PM accumulation amount has not decreased to less than the set amount and the parking regeneration condition is satisfied (step # 11). No, and Yes in step # 13).

Here, the reset reproduction control will be described with reference to FIG.
The vehicle-side control unit 22 determines whether or not the reference engine rotation speed associated with the straight road K1 is equal to or higher than the predetermined rotation speed, and the reference engine rotation speed associated with the straight road K1 is less than the predetermined rotation speed. If this is the case, the reference engine rotation speed of the straight road K1 is changed to an engine rotation speed equal to or higher than the predetermined rotation speed (engine rotation speed for the first regeneration process) (in the case of No in step # 21, step # 22). ..

The vehicle-side control unit 22 determines whether or not the reference engine rotation speed associated with the rotation circuit K2 is equal to or higher than the predetermined rotation speed, and determines that the reference engine rotation speed associated with the rotation circuit K2 is less than. , The reference engine rotation speed of the rotation circuit K2 is changed to an engine rotation speed equal to or higher than a predetermined rotation speed (engine rotation speed for the first regeneration process) (in the case of No in step # 23, step # 24).

Incidentally, the predetermined rotation speed in the straight road K1 and the predetermined rotation speed in the rotation circuit K2 can be set to the same rotation speed or different rotation speeds. When changing the reference engine rotation speed, the user or the like can set the changeable range of the engine rotation speed as to what kind of rotation speed is to be changed. At this time, the changeable range of the engine rotation speed can be set to a range in which the vehicle speed of the tractor 2 associated with the straight road K1 and the turning circuit K2 is not changed. Further, when the changeable range of the engine rotation speed is within the range in which the vehicle speed of the tractor 2 associated with the straight road K1 and the turning circuit K2 is changed, the wireless communication terminal 3 indicates that the vehicle speed is changed. It is displayed on the display unit 34 so that the user recognizes that the vehicle speed is changed. Only when the permission operation for permitting the change of the vehicle speed is performed by the user, the changeable range of the engine rotation speed is set to the range in which the vehicle speed of the tractor 2 associated with the straight road K1 and the turning circuit K2 is changed. It is set.

In this way, the vehicle-side control unit 22 sets the reference engine rotation speed associated with the straight road K1 to be equal to or higher than the predetermined rotation speed, and sets the reference engine rotation speed associated with the turning circuit K2 to be equal to or higher than the predetermined rotation speed. Then, the DPF reproduction control unit 23 performs the reset reproduction process (step # 25).

In the reset regeneration process by the DPF regeneration control unit 23, when the current position of the tractor 2 is located on the straight road K1, the vehicle side control unit 22 controls the engine rotation speed to a reference engine rotation speed equal to or higher than the predetermined rotation speed. The DPF reproduction control unit 23 performs the reset reproduction process. Further, when the current position of the tractor 2 is located in the turning circuit K2, the DPF regeneration control unit 23 resets and reproduces the engine while the vehicle side control unit 22 controls the engine rotation speed to a reference engine rotation speed equal to or higher than a predetermined rotation speed. I do.

When the reference engine rotation speed associated with the straight road K1 is changed, or when the reference engine rotation speed associated with the turning circuit K2 is changed, the vehicle side control unit 22 changes the DPF reproduction control unit 23. When the reset reproduction process is completed, the reference engine rotation speed associated with the straight road K1 is set to return to the original reference engine rotation speed, and the reference engine rotation speed associated with the turning circuit K2 is used as the original reference. It is set to return to the engine speed.

Returning to FIG. 5, in step # 7, if the vehicle side control unit 22 determines that both the reset reproduction condition and the parking reproduction condition are not satisfied, it is determined whether or not the pre-execution condition for reset reproduction is satisfied. (In the case of No in step # 7, step # 14). The vehicle-side control unit 22 needs to perform the reset reproduction process before the work by the automatic driving control is completed, and the time required for the reset reproduction process (for example, 30 minutes) is before the work by the automatic driving control is completed from the present time. When the remaining work time of is exceeded, it is determined that the pre-execution condition for reset reproduction is satisfied. The vehicle side control unit 22 needs to perform a reset reproduction process before the work by the automatic driving control is completed based on the PM accumulation amount information, the engine rotation speed setting information, the route information, the current position information of the tractor 2, and the like. It is determined whether or not it becomes. Further, the vehicle side control unit 22 determines whether or not the time required for the reset reproduction process (for example, 30 minutes) exceeds the remaining work time based on the route information, the current position information of the tractor 2, and the like. ing.

When the vehicle-side control unit 22 determines that the pre-execution condition for reset reproduction is satisfied, the vehicle-side control unit 22 executes the above-mentioned reset reproduction control (in the case of Yes in step # 14, step # 10). When the vehicle side control unit 22 determines that the pre-execution condition for reset reproduction is not satisfied, it determines whether or not the work is completed, and when the work is completed, the vehicle side control unit 22 ends the automatic driving control (step). In the case of No in # 14, in the case of Yes in step # 15, step # 16).

In this way, the vehicle-side control unit 22 repeatedly determines whether or not the reset reproduction or parking reproduction condition is satisfied during the execution of the automatic driving control, and whether or not the pre-execution condition for the reset reproduction is satisfied. Is repeatedly determined. When any of the conditions is satisfied, the vehicle-side control unit 22 is configured to perform regeneration control (reset regeneration control or parking regeneration control) according to the condition.

Here, the operations shown in FIGS. 5 to 7 are merely examples, and other operations can be performed. For example, in step # 1 of FIG. 5, when the vehicle side control unit 22 determines that the reset reproduction condition may be satisfied, the wireless communication terminal 3 displays a display indicating that the reset reproduction condition may be satisfied. A display control signal for displaying on the display unit 34 of the above is output (step # 4). Instead of this, if the vehicle side control unit 22 determines that the reset reproduction condition may be satisfied, the vehicle side control unit 22 may output a route regeneration instruction signal for regenerating the automatic traveling routes K1 and K2. good. In this case, when the wireless communication terminal 3 receives the route regeneration instruction signal, the display unit 34 can display a setting screen or the like for regenerating the automatic traveling routes K1 and K2. In this way, if there is a possibility that the reset reproduction condition is satisfied before the automatic driving control is started, the automatic driving route can be generated again. When the automatic traveling path is generated again, for example, the automatic traveling path can be generated so as to satisfy the condition that the load of the engine 10 increases and the temperature of the exhaust gas rises.

In step # 14 of FIG. 5, when the vehicle side control unit 22 determines that the pre-execution condition for reset reproduction is satisfied, the reset reproduction control is executed (in the case of Yes in step # 14, step # 15). ). Instead of this, if the vehicle side control unit 22 determines that the pre-execution condition for reset reproduction is satisfied, the execution of the reset reproduction control can be prohibited. As a result, if the reset reproduction process is not completed by the end of the automatic driving control, the reset reproduction process is not performed and the reset reproduction process is continued after the automatic driving control is completed. Can be prevented. Further, when the vehicle side control unit 22 determines that the pre-execution condition for reset reproduction is satisfied, the display unit of the wireless communication terminal 3 displays a display indicating that the reset reproduction process is continued after the automatic driving control is completed. It is also possible to output a display control signal for displaying on 34. Further, it is also possible to omit step # 14 and perform automatic driving control without determining whether or not the pre-execution condition for reset reproduction is satisfied.

In step # 7 of FIG. 5, when the vehicle side control unit 22 determines that the parking regeneration condition is satisfied during the execution of the automatic driving control, the vehicle side control unit 22 executes the parking regeneration control (parking regeneration process) (step). # 8). Instead, the vehicle-side control unit 22 does not execute the parking regeneration control (parking regeneration process) even if it determines that the parking regeneration condition is satisfied during the execution of the automatic driving control, and the automatic driving control is performed. After the end of, the parking regeneration control (parking regeneration process) can be automatically executed. In this case, the vehicle-side control unit 22 displays on the display unit 34 of the wireless communication terminal 3 a display indicating that the parking regeneration control (parking regeneration process) is automatically executed after the automatic driving control is completed. The display control signal can be output.

In the reset regeneration control of FIG. 6, the DPF regeneration control unit 23 performs the reset regeneration process without requesting the user's operation on the regeneration switch 35 or the vehicle side regeneration switch 26. Instead of this, when performing the reset reproduction control, the reproduction switch 35 is made to appear on the display unit 34 of the wireless communication terminal 3 and the reproduction switch on the vehicle side is performed, as in the case of performing the parking reproduction control (see FIG. 7). 26 is blinking and displayed. The vehicle-side control unit 22 prohibits the DPF regeneration control unit 23 from executing the reset regeneration process when the regeneration switch 35 or the vehicle-side regeneration switch 26 is not operated by the user, and the vehicle-side regeneration switch 35 or the vehicle-side regeneration switch by the user. Only when 26 is operated, the reset regeneration process by the DPF regeneration control unit 23 can be executed. Incidentally, when the reset regeneration process is performed by the DPF regeneration control unit 23, a display indicating that the reset regeneration process is performed can be displayed on the display unit 34 of the wireless communication terminal 3.

In step # 33 of FIG. 7, the vehicle-side control unit 22 executes the parking regeneration process by the DPF regeneration control unit 23 after confirming that the current position of the tractor 2 has reached the turning circuit K2 (step). # 36). Instead, the vehicle-side control unit 22 omits step # 33 when the regeneration switch 35 is operated in step # 32, and determines whether or not the current position of the tractor 2 has reached the turning circuit K2. Regardless of this, the automatic traveling can be stopped when the regeneration switch 35 is operated, and the parking regeneration process by the DPF regeneration control unit 23 can be executed.

[Another Embodiment]
(1) In the above embodiment, the first path for which the execution of the parking regeneration process is prohibited is the straight road K1, and the second path for which the execution of the parking regeneration process is not prohibited is the turning circuit K2. The first route for which the execution of the parking regeneration process is prohibited may be the turning circuit K2, and the second route for which the execution of the parking regeneration process is not prohibited may be the straight road K1.

Further, it is also possible to use only a part of the plurality of turning circuits K2 as the second path and the other automatic traveling paths K1 and K2 as the first path, and the first path and the second path in the automatic traveling paths K1 and K2. Can be changed as appropriate. For example, in the automatic traveling routes K1 and K2, the route portion where the exhaust of high-temperature exhaust gas cannot be tolerated can be set as the first route, and the route portion where the exhaust of high-temperature exhaust gas can be tolerated can be set as the second route. The first path and the second path can be set according to various conditions such as the control work situation and the surrounding situation.

Regarding the setting of the first route and the second route, for example, the first route and the second route can be changed and set by the user operating the wireless communication terminal 3 as needed. It is also possible to fix the settings of the first route and the second route so that the settings of the first route and the second route cannot be changed.

(2) In the above embodiment, the vehicle-side control unit 22 performs the parking regeneration process when the current position of the tractor 2 is located on the turning circuit K2 (second path). Instead of or in addition to this, the vehicle-side control unit 22 predicts in advance the timing at which the parking regeneration process needs to be performed before starting the automatic driving control or during the execution of the automatic driving control. Then, when it is predicted that the vehicle side control unit 22 will need to perform the parking regeneration process at the timing when the tractor 2 travels on the turning circuit K2 (second path), the tractor 2 as it is. The parking regeneration process can be performed at the timing when the tractor travels on the turning circuit K2 (second path). On the contrary, when it is predicted that the vehicle side control unit 22 needs to perform the parking regeneration process at the timing when the tractor 2 travels on the straight road K1 (second route), the straight road The parking regeneration process can be performed at the timing when the tractor 2 travels on the turning circuit K2 in front of K1 (not necessarily immediately before) or the turning circuit K2 next to the straight road K1.

(3) In the above embodiment, the vehicle-side control unit 22 prohibits the DPF regeneration control unit 23 from executing the parking regeneration process when the regeneration switch 35 or the vehicle-side regeneration switch 26 is not operated by the user. The parking regeneration process is executed by the DPF regeneration control unit 23 only when the regeneration switch 35 or the vehicle-side regeneration switch 26 is operated. Instead of this, the vehicle-side control unit 22 can perform the parking regeneration process by the DPF regeneration control unit 23 regardless of whether or not the regeneration switch 35 or the vehicle-side regeneration switch 26 is operated by the user. In this case, the vehicle-side control unit 22 performs parking regeneration processing by the DPF regeneration control unit 23 at the timing when the regeneration switch 35 or the vehicle-side regeneration switch 26 is operated by the user, and the regeneration switch 35 or the vehicle is performed by the user. If the state in which the side regeneration switch 26 is not operated continues for a set time or longer, the parking regeneration process by the DPF regeneration control unit 23 can be automatically performed.

(4) In the above embodiment, the reset reproduction process is set to the first reproduction process, but for example, the assist reproduction process and the reset reproduction process can be set to the first reproduction process, and the first reproduction process is the first reproduction process. The PM of the exhaust gas purifying device 11 may be burnt and removed without stopping the tractor 2.

1 Automatic driving system 2 Tractor (working vehicle)
3 Wireless communication terminal 10 engine (diesel engine)
11 Exhaust gas purification device (DPF)
22 Control unit (vehicle side control unit)
35 Playback switch (operation unit)
K1 straight road (first route)
K2 turning circuit (second path)

Claims (5)

It is equipped with a control unit that can execute automatic driving control that automatically drives the vehicle body along the automatic traveling route and regeneration processing that removes particulate matter collected by the exhaust gas purification device that purifies the exhaust gas of the engine.
As the regeneration process, the control unit includes a first regeneration process for removing particulate matter without the condition of stopping the vehicle body and a second regeneration process for removing the particulate matter with the condition of stopping the vehicle body. Feasible and
The control unit is configured to prohibit the start of the automatic driving control at least in a situation where it is necessary to perform the second reproduction process .
If the control unit predicts that it will be necessary to perform the second regeneration process during the execution of the automatic drive control before starting the automatic drive control, it is necessary to perform at least the second regeneration process. An automatic driving system that determines that the situation is The control unit compares the grace time until the timing at which the second regeneration process should be performed with the scheduled travel time for the vehicle body to automatically travel on the automatic travel route by the automatic travel control, and the grace time is described. The automatic driving system according to claim 1 , wherein it is predicted that the second reproduction process will be required during the execution of the automatic driving control when the traveling time is less than the scheduled running time. It is equipped with a control unit that can execute automatic driving control that automatically drives the vehicle body along the automatic traveling route and regeneration processing that removes particulate matter collected by the exhaust gas purification device that purifies the exhaust gas of the engine.
As the regeneration process, the control unit includes a first regeneration process for removing particulate matter without the condition of stopping the vehicle body and a second regeneration process for removing the particulate matter with the condition of stopping the vehicle body. Feasible and
The control unit is configured to prohibit the start of the automatic driving control at least in a situation where it is necessary to perform the second reproduction process.
The automatic traveling route includes a first route in which execution of the second regeneration process is prohibited and a second route in which execution of the second regeneration process is not prohibited.
Wherein, during said automatic cruise control execution, automatic running system that is configured to perform the second regeneration process when the vehicle body to the second path is located. It is equipped with a control unit that can execute automatic driving control that automatically drives the vehicle body along the automatic traveling route and regeneration processing that removes particulate matter collected by the exhaust gas purification device that purifies the exhaust gas of the engine.
As the regeneration process, the control unit includes a first regeneration process for removing particulate matter without the condition of stopping the vehicle body and a second regeneration process for removing the particulate matter with the condition of stopping the vehicle body. Feasible and
The control unit is configured to prohibit the start of the automatic driving control at least in a situation where it is necessary to perform the second reproduction process.
In the automatic driving control, the reference engine rotation speed is set in advance for the automatic driving path.
Wherein, when it is necessary to perform the first regeneration process in the automatic travel control is executed, the self that is configured to change the reference engine rotational speed to an engine rotational speed for the first reproduction processing Dynamic driving system. A wireless communication terminal capable of wireless communication with the control unit and having an artificially operated operation unit that permits execution of the second reproduction process is provided.
The automatic traveling system according to any one of claims 1 to 4 , wherein the control unit is configured to be able to execute the second reproduction process when the operation unit of the wireless communication terminal is operated.

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