JP7679283B2 - Work vehicles - Google Patents

Description

The present invention relates to a work vehicle such as a tractor.

Conventionally, as disclosed in, for example, Patent Document 1, there is known a technology for controlling the travel of a work vehicle in a field using captured images. This type of work vehicle can travel not only in fields but also on roads. Meanwhile, Patent Document 2 discloses a technology for vehicles such as passenger cars, but which detects lane marks such as white lines on the road and prevents the vehicle from deviating from the lane.

JP 2016-146061 A JP 2007-261452 A

However, roads on which work vehicles travel are often farm roads. Therefore, roads on which work vehicles travel often have white lines only in the center or on one side of the road, or no white lines anywhere on the road. Therefore, it is difficult to directly apply the technology described in Patent Document 2 to work vehicles, and there is a demand for technology that can prevent work vehicles from running off the road.

The present invention aims to provide a work vehicle that can warn the operator at the right time when the vehicle is about to deviate from the road.

The work vehicle (1) of the present invention comprises a traveling machine body (4) capable of traveling on a road (R);
An imaging unit (15) capable of imaging the ground in front of the traveling machine body (4);
A notification unit (40) capable of notifying;
and a control unit (100) capable of executing an alarm mode in which a step (S) on the ground is detected as the edge of the road based on image data (I1) obtained by the imaging operation of the imaging unit (15), and the alarm unit (40) is activated if a distance (X1) between the traveling body (4) and the edge of the road (R) is equal to or smaller than a predetermined distance (THX).

For example, referring to Figs. 1, 4, 6, 8, and 9, the control unit (100)
In the notification mode, a predicted value (T) corresponding to the time or distance required for the traveling body (4) to reach the edge of the road (R) is calculated based on image data (I1) obtained by the imaging operation of the imaging unit (15), and if the predicted value (T) is equal to or less than a predetermined value (THT), the notification unit (40) is activated.

For example, referring to FIG. 1, FIG. 5, and FIG. 7, the work vehicle (1) includes a steering unit (25) that steers the traveling machine body (4),
The control unit (100) can execute an automatic steering mode in which the steering unit (15) is controlled based on image data (I2) obtained by the imaging operation of the imaging unit (15).

Note that the symbols in parentheses above are for comparison with the drawings, but do not limit the configuration of the present invention in any way.

According to the present invention as set forth in claim 1, the edge of the road on which the work vehicle is traveling can be properly detected, and this makes it possible to activate the alarm unit at the proper timing. This allows the operator to quickly take action to prevent the work vehicle from deviating from the road.

According to the invention of claim 2, by adding a function for making judgments based on predicted values, the operator can take action to prevent the work vehicle from deviating from the road even more quickly.

According to the present invention as set forth in claim 3, the imaging unit can be used in both the automatic steering mode and the notification mode, eliminating the need to prepare a separate imaging unit different from the imaging unit, thereby reducing costs.

1 is a side view of a tractor that is an example of a work vehicle according to an embodiment. FIG. 2A is a perspective view of the tractor as viewed from the front, and FIG. 2B is a perspective view of the tractor as viewed from the rear. FIG. FIG. 2 is a block diagram of a main part of a control system of a tractor. 4 is a flowchart showing a control process performed by a control unit. 4 is a flowchart showing a control process performed by a control unit. FIG. 1 is a diagram for explaining image analysis. FIG. 2 is a diagram for explaining a state in which a tractor is traveling on a road. FIG. 4 is a schematic diagram for explaining a process for obtaining a predicted value.

The following describes an embodiment of the present invention with reference to the drawings. Fig. 1 is a side view of a tractor 1, which is an example of a work vehicle according to an embodiment of the present invention. Fig. 2(a) is a perspective view of the tractor 1 in Fig. 1 as seen from the front, and Fig. 2(b) is a perspective view of the tractor 1 as seen from the rear.

The tractor 1 comprises a running body 4 having a pair of front and rear wheels 2 and 3, and a working machine 6 connected to the rear of the running body 4 via a lifting link 5 so that it can be raised and lowered. The running body 4 is configured to be able to run on fields and roads. The running body 4 comprises a machine frame 7 supported by the front and rear wheels 2 and 3, a bonnet 8 that covers the top of an engine (not shown) installed at the front of the machine frame 7, and a cabin 10 installed behind the bonnet 8 and equipped with a control section 9 where an operator gets in and operates the machine. The engine drives the front and rear wheels 2 and 3 via a transmission (not shown), and supplies driving force to the working machine 6 via a PTO shaft (not shown). The working machine 6 is used to perform tasks such as sowing seeds and making ridges in fields, and is, for example, a rotary tiller.

The control section 9 includes a seat 11 on which an operator sits, a steering handle 12 disposed in front of the seat 11, and a steering section 25 including a steering shaft 21 extending in the vertical direction. The steering section 25 is used by the operator or the drive unit 20 to steer the traveling machine body 4.

The control section 9 also includes a display panel 13 located in front of the steering handle 12, a forward/reverse switch lever 14 located to the left of the steering handle 12, a throttle lever (not shown) located to the right of the steering handle 12, a lift lever (not shown) located in front of the throttle lever for controlling the lifting and lowering operation of the work machine 6, a direction indicator lever 16 located behind the throttle lever, a floor step 18 which is a floor surface provided between the seat 11 and the steering handle 12, and an operation panel 19 located to the right of the seat 11.

The cabin 10 has a pair of front frames 10a, a pair of rear frames 10b, and a ceiling 10c supported by these frames 10a and 10b, with the control section 9 formed inside. A camera 15, which is an example of an imaging section, is provided in the front part of the ceiling 10c of the cabin 10.

Between the rotation axis of the steering handle 12 and the upper end of the steering shaft 21, a drive unit 20 is provided that rotates and drives the steering shaft 21 to control (assist) the steering of the traveling body 4. The drive unit 20 is attached to the upper end side of the steering shaft 21 and is fixedly attached to the upper side of a steering column 22 that covers the steering shaft 21. As a result, the steering shaft 21 is configured to be rotated (steered) by the operator via the steering handle 12, and to be controlled (assisted) in steering operation by being rotated by the drive unit 20. The tractor 1 is equipped with an operation panel 27 arranged on the case of the drive unit 20, and a control unit 100 arranged inside the case of the drive unit 20.

Figure 3 is a plan view of the operation panel 27 according to the embodiment. The operation panel 27 has an operation ON/OFF switch 31, a notification ON/OFF switch 32, a distant view straight ahead button 33, multiple tracking buttons 34-36, a sensitivity adjustment button 37, a notification unit 40, and multiple LEDs 43-46. The notification unit 40 is configured to be able to notify the operator of an alarm, and in this embodiment includes a lamp 41 and a buzzer 42.

Figure 4 is a block diagram of the main parts of the control system of the tractor 1 according to the embodiment. The control unit 100 is configured by a computer such as a microcomputer. The control unit 100 is configured by a computer different from the ECU (not shown) that controls the traveling body 4 and the work machine 6. The drive unit 20 shown in Figure 1 includes a steering angle sensor 30 and a drive motor 39.

The control unit 100 has a CPU 101, which is an example of a processor, a ROM 102 and a RAM 103, which are examples of a memory unit, an I/O 104, which is an example of an input/output interface, and a communication unit 105. The communication unit 105 is configured to be able to communicate data with the mobile terminal 200 wirelessly, such as WiFi (registered trademark) or Bluetooth (registered trademark), or via a wired connection. The mobile terminal 200 is a computer terminal having a display 206, which is an example of a display unit capable of displaying images, and is, for example, a tablet PC or a smartphone. In this embodiment, the display 206 is a touch panel display.

Connected to the input side of the control unit 100 are the camera 15, steering angle sensor 30, operation ON/OFF switch 31, notification ON/OFF switch 32, distant view straight ahead button 33, follow buttons 34-36, and sensitivity adjustment button 37. On the other hand, connected to the output side of the control unit 100 are the drive motor 39, notification unit 40, and LEDs 43-46.

The camera 15 is positioned so that it can capture an image of the ground and horizon in the direction of travel of the traveling vehicle body 4, which is the target for vehicle travel. The camera 15 is a monocular digital camera that captures an image of a subject (landscape), generates image data, and outputs the image data to the control unit 100.

The steering angle sensor 30 is a device that detects the steering angle of the front wheels 2. The drive motor 39 is an electric motor, such as a stepping motor, that rotates the steering shaft 21 around its axis. The drive motor 39 is controlled by the control unit 100 when the control unit 100 executes the automatic steering mode described below. A reduction mechanism (not shown) that reduces the speed by a gear is provided on the motor output shaft of the drive motor 39. The rotation output by the drive motor 39 is reduced by the reduction mechanism and transmitted to the steering shaft 21. Therefore, in the automatic steering mode, the steering operation is controlled by rotating the steering shaft 21 around its axis using the motor output of the drive motor 39.

The lamp 41 is for issuing an alarm to the operator by lighting up, blinking, etc. The buzzer 42 is a sound emitting device that issues a sound to issue an alarm to the operator.

The operation ON/OFF switch 31 is a switch that can be operated by an operator, for example a push button switch with a lamp. The first state of the operation ON/OFF switch 31 is an ON state with the lamp turned on, and the second state is an OFF state with the lamp turned off. The operation ON/OFF switch 31 alternates between the ON state and the OFF state each time it is operated by the operator.

The notification ON/OFF switch 32 is also a switch that can be operated by the operator, for example a push button switch with a lamp. The third state of the notification ON/OFF switch 32 is the ON state with the lamp turned on, and the fourth state is the OFF state with the lamp turned off. The notification ON/OFF switch 32 also alternates between the ON state and the OFF state each time it is operated by the operator.

The control unit 100 can selectively execute a work mode in which work is performed in a field and a travel mode in which the vehicle moves along roads and in a field. In the work mode, the control unit 100 is configured to selectively execute a manual steering mode in which the operator steers the traveling body 4, and an automatic steering mode in which the steering of the traveling body 4 is controlled based on image data I2 obtained by the imaging operation of the camera 15. In this embodiment, there are four automatic steering modes.

The distant view straight ahead button 33 and the follow button 34 to follow button 36 are each button switches that allow the operator to select a corresponding automatic steering mode from among four automatic steering modes. By turning the operation ON/OFF switch 31 to the ON state, the automatic steering mode corresponding to each of the distant view straight ahead button 33 and the follow button 34 to follow button 36 can be selected.

Hereinafter, the automatic steering mode corresponding to the distant view straight ahead button 33 will be referred to as the "distant view straight ahead mode," the automatic steering mode corresponding to the follow button 34 will be referred to as the "previous process follow mode," the automatic steering mode corresponding to the follow button 35 will be referred to as the "ridge follow mode," and the automatic steering mode corresponding to the follow button 36 will be referred to as the "V-groove follow mode."

The sensitivity adjustment button 37 is a button that adjusts the steering sensitivity when the automatic steering mode is executed.

The control process by the control unit 100 will be described below with reference to the flowcharts shown in Figs. 5 and 6. The control process shown in Figs. 5 and 6 is executed repeatedly at a predetermined cycle. The control unit 100 judges whether the operation ON/OFF switch 31 is in the ON state (S101). When working in a field with the tractor 1, the operator turns the operation ON/OFF switch 31 to the ON state.

If the operation ON/OFF switch 31 is in the ON state (S101: YES), the control unit 100 executes the work mode (S102). The work mode is a mode in which work is performed in the field by the work implement 6, and the control unit 100 is in a state in which it can accept input operations of the distant view straight ahead button 33 and the follow buttons 34 to 36 by the operator.

The control unit 100 determines whether the distant view straight ahead button 33 and any of the following buttons 34 to 36 have been operated (i.e., turned ON) (S103). If any button has been operated (S103: YES), the control unit 100 executes the automatic steering mode corresponding to the operated button (S104).

When the operation ON/OFF switch 31 is ON and the distant view straight ahead button 33 is operated, the control unit 100 turns on the LED 43 and executes the distant view straight ahead mode. When the operation ON/OFF switch 31 is ON and the follow button 34 is operated, the control unit 100 turns on the LED 44 and executes the front process follow mode. When the operation ON/OFF switch 31 is ON and the follow button 35 is operated, the control unit 100 turns on the LED 45 and executes the ridge follow mode. When the operation ON/OFF switch 31 is ON and the follow button 36 is operated, the control unit 100 turns on the LED 46 and executes the V groove follow mode.

The automatic steering mode executed in step S104 will be described. In the distant view straight ahead mode, the control unit 100 causes the camera 15 to perform an imaging operation and acquires image data I2 generated by the imaging operation of the camera 15. The control unit 100 then determines a target point based on the image data I2 and automatically causes the traveling body 4 to travel straight ahead toward the target point.

In the upstream process tracking mode, the control unit 100 causes the camera 15 to perform an imaging operation and acquires image data I2 generated by the imaging operation of the camera 15. Then, the control unit 100 detects a work trace that extends in a straight line on the side of the traveling machine body 4 based on the image data I2, and automatically causes the traveling machine body 4 to travel along the work trace.

In the shoreline following mode, the control unit 100 causes the camera 15 to perform an imaging operation and acquires image data I2 generated by the imaging operation of the camera 15. The control unit 100 then detects the shoreline on the side of the traveling machine body 4 based on the image data I2 and causes the traveling machine body 4 to automatically travel along the shoreline.

In the V-groove following mode, the control unit 100 causes the camera 15 to perform an imaging operation and acquires image data I2 generated by the imaging operation of the camera 15. The control unit 100 then detects the V-groove that extends in a straight line based on the image data I2 and automatically causes the traveling machine body 4 to travel along the V-groove.

In addition, even if the operation ON/OFF switch 31 is ON (S101: YES), if none of the buttons 33 to 36 are operated (S103: NO), the control unit 100 executes the manual steering mode (S105). That is, in the manual steering mode, the control unit 100 does not perform assist control using the drive motor 39, and the traveling body 4 travels according to the steering of the operator.

The control unit 100 may be configured to stop the automatic steering mode and transition to the manual steering mode if the operator operates a corresponding button among buttons 33 to 36 again while any of the automatic steering modes is being executed. The control unit 100 may also be configured to stop the automatic steering mode and transition to the manual steering mode if the operator rotates the steering wheel 12 while any of the automatic steering modes is being executed. When switching from the automatic steering mode to the manual steering mode, the control unit 100 turns off any of the LEDs 43 to 46 that were turned on.

If the operation ON/OFF switch 31 is in the OFF state (S101: NO), the control unit 100 executes the traveling mode (S106). The traveling mode is a mode for moving on roads such as public roads and farm roads and in farm fields, and like the manual steering mode, the traveling mode is a mode in which the tractor travels according to the steering of the operator, but unlike the work mode, the input operation of the buttons 33 to 36 by the operator is not accepted. In the traveling mode, the working implement 6 is in a raised state. When the tractor 1 is moving, the operation ON/OFF switch 31 is turned OFF by the operator. That is, when the operation ON/OFF switch 31 is in the OFF state, it is assumed that the tractor 1 is traveling on a road such as a farm road. Therefore, while traveling on a road, it is preferable to notify the operator when the tractor 1 is about to deviate from the road so that the tractor 1 does not deviate from the road. Therefore, the control unit 100 can execute a notification mode, which will be described later, in the traveling mode.

In this embodiment, when the operation ON/OFF switch 31 is in the OFF state and the vehicle transitions to the driving mode, the control unit 100 determines whether the notification ON/OFF switch 32 is in the ON state (S107). If the notification ON/OFF switch 32 is in the ON state (S107: YES), the control unit 100 executes the notification mode in which the notification unit 40 is activated to notify the operator when a predetermined condition is met (S108).

Here, in a situation where the lamp 41 and the buzzer 42 are frequently activated, for example, when the tractor 1 is traveling on an extremely narrow road whose width is only slightly wider than the vehicle width of the tractor 1, the operator may not want the control unit 100 to execute the notification mode. In such a case, the notification ON/OFF switch 32 is switched to the OFF state by the operator. When the notification ON/OFF switch 32 is in the OFF state (S107: NO), the control unit 100 executes a mode in which the notification mode is not executed in the traveling mode, that is, a non-notification mode in which the notification unit 40 is not activated (S109). This makes it possible to prevent the notification unit 40 from being activated even when a situation occurs in which a predetermined condition is met while the tractor 1 is traveling on a road.

The notification mode of step S108 will be specifically described with reference to the flowchart of FIG. 6. The control unit 100 causes the camera 15 to perform an imaging operation (S201). The imaging period of the camera 15 is the same as the predetermined period of the control process. The camera 15 generates image data I1 by imaging the foreground as seen from the traveling body 4. The foreground includes the ground in front of the traveling body 4 and the distant view. The ground includes the road surface and surfaces on the sides of the road surface (e.g., grass, gravel, soil, curbs, and other structures). Here, there are often no lanes such as white lines drawn at the edges of roads on which the tractor 1 travels. In this embodiment, the control unit 100 analyzes the image data I1 (S202) and detects a step S as the edge of the road.

Figure 7 is a diagram for explaining image analysis. Figure 8 is a diagram for explaining the state in which the tractor 1 is traveling on a road such as a farm road. For convenience, image data I1 is visualized as an image in Figure 7. Note that an image based on image data I1 may be displayed on the display 206 of the mobile terminal 200.

As shown in FIG. 8, the side of the road R on which the tractor 1 travels is often grassland G. The boundary between the road R and the grassland G is often a step (unevenness) S. In this embodiment, the control unit 100 analyzes the image data I1 to detect the step S as the edge of the road R. The method of detecting the step S based on the image data I1 can be a conventional method, for example, a method of detecting a V-shaped groove in a farm field.

In this embodiment, detecting the step S means determining the position of the rising point P of the step S in real space. An example of the detection process of the step S will be briefly described below. The control unit 100 acquires image data from the camera 15 at a predetermined cycle. The control unit 100 sets a rectangular reference area in the past image data acquired in the imaging cycle one before the image data I1 shown in FIG. 7. The control unit 100 then defines a plurality of partial areas that are connected in the horizontal direction within the rectangular reference area, and defines point sequence data consisting of the center points of the partial areas. Since the tractor 1 travels forward on the road, the area corresponding to the reference area in the image data I1 obtained in the next imaging cycle with respect to the past image data has moved downward. Therefore, the control unit 100 searches for a reference area RS similar to the reference area in the image data I1 in an area below the reference area. The reference area and the reference area RS are the same predetermined area (ground) in real space.

In the reference area RS of image data I1, each piece of point sequence data corresponding to the point sequence data of the past image data has a different amount of vertical displacement depending on the height of the step. Based on this difference in the amount of change, the control unit 100 obtains step data IS corresponding to the step S from the image data I1. Note that the control unit 100 can also obtain step data IS' in the image data I1 using a reference area set in the previous image data. Furthermore, steps such as ruts on the road R are on the track (travel path) of the traveling body 4, so they can be excluded by a process that masks the image area corresponding to the track.

In addition, in this embodiment, the camera 15 captures the scenery including the ground in front of the traveling body 4. Therefore, the control unit 100 detects, as the step S, a step on the ground in a predetermined area in the forward direction of the traveling body 4, i.e., a certain distance (e.g., 10 m) from the traveling body 4, i.e., the camera 15. This predetermined area corresponds to the reference area RS in the image data I1.

The control unit 100 selects point data IP of the step data IS that corresponds to the rising point P of the step S. The control unit 100 converts the point data IP in a coordinate system based on the image data I1 into a coordinate system based on the traveling body 4, thereby determining the position of the rising point P of the step S. That is, the control unit 100 determines the reference position O to be the center of the camera 15 at the center of the width direction W of the traveling body 4, and determines the distance X0 in the width direction W from the reference position O to the rising point P. The control unit 100 determines the distance X1 between the traveling body 4 and the rising point P, which is the edge of the road R, by subtracting the width X2, which is half the width of the pair of front wheels 2 of the traveling body 4 (i.e. the width of the traveling body 4), from the distance X0.

Then, the control unit 100 judges whether the interval X1 is equal to or less than the predetermined interval THX (S203). If the interval X1 is equal to or less than the predetermined interval THX (S203: YES), the control unit 100 operates the notification unit 40 in the first pattern (S204). In step S204, in this embodiment, the control unit 100 blinks the lamp 41 and causes the buzzer 42 to emit a long sound.

Also, if the interval X1 exceeds the predetermined interval THX (S203: NO), the control unit 100 obtains a predicted value T corresponding to the time required for the traveling body 4 to reach the edge of the road R based on the image data I1, and determines whether the predicted value T is equal to or less than the threshold value THS (S205). If the predicted value T is equal to or less than the threshold value THS (S205: YES), the control unit 100 operates the alarm unit 40 in the second pattern (S206). In step S206, in this embodiment, the control unit 100 turns on the lamp 41 and causes the buzzer 42 to emit a short sound.

If the predicted value T exceeds the threshold value THS (S205: NO), the control unit 100 determines whether the predicted value T is equal to or less than the threshold value THT (S207). The threshold value THT is a value greater than the threshold value THS. The threshold value THT is also an example of a predetermined value. If the predicted value T is equal to or less than the threshold value THT (S207: YES), the control unit 100 activates the alarm unit 40 in the third pattern (S208). In step S208, in this embodiment, the control unit 100 turns on the lamp 41. If the predicted value T exceeds the threshold value THT (S207: NO), the control unit 100 ends the process without activating the alarm unit 40.

Here, a specific example of how to calculate the predicted value T will be described. FIG. 9 is a schematic diagram for explaining the process of calculating the predicted value T according to the embodiment. In FIG. 9, the tractor 1 is viewed from above. The control unit 100 searches forward for an image similar to the step data IS from the image data I1, and calculates a plurality of search point data IE corresponding to the point data IP as shown in FIG. 7. Here, forward search means searching the part of the image data I1 that corresponds to the front of the traveling body 4, that is, above the step data IS in FIG. 7. Then, the control unit 100 calculates a regression line L1 that follows the edge of the road R by the least squares method or the like based on the point data IP and the search point data IE.

The control unit 100 also determines the straight line L0 that extends in the traveling direction of the traveling body 4, i.e., the tractor 1. The control unit 100 determines the angle difference dθ, which is the angle between the regression line L1 and the straight line L0. The control unit 100 determines the distance Z required for the traveling body 4 to reach the edge of the road R from the angle difference dθ and the interval X1. The control unit 100 then determines the time required for the traveling body 4 to reach the edge of the road R as a predicted value T based on the speed and distance Z of the traveling body 4. Therefore, the predicted value T is the predicted time [seconds]. The speed of the traveling body 4 may be determined based on the image data I1 and image data acquired before the image data I1, or the detection value of a speed sensor (not shown) provided on the traveling body 4 may be used.

Note that, as the predicted value T, the control unit 100 has been described as calculating the time required for the traveling body 4 to reach the edge of the road R, but this is not limited to this. The predicted value T may be the distance Z described above instead of time. In this case, the threshold value THS used in the processing of step S205 and the threshold value THT used in the processing of step S207 may be set to a value corresponding to the distance Z. In this case, the threshold value THT may also be set to a value greater than the threshold value THS.

As described above, according to this embodiment, the edge of the road R along which the tractor 1 is traveling can be properly detected, which enables the alarm unit 40 to be activated at the proper timing. This allows the operator to quickly perform steering operations to prevent the tractor 1 from deviating from the road R when the tractor 1 is about to deviate from the road R.

In addition, according to this embodiment, the camera 15 can be used in both the automatic steering mode and the notification mode, eliminating the need to provide a separate imaging unit other than the camera 15, thereby reducing costs.

In addition, according to this embodiment, by adding a function to determine whether the tractor 1 is likely to deviate from the road R based on the predicted value T, the operator can more quickly perform steering operations to prevent the tractor 1 from deviating from the road R.

Note that although the control unit 100 is configured as a computer separate from the ECU, this is not limited thereto. For example, the control unit 100 may be part of the functions of the ECU. Also, the control unit 100 may be part of the functions of the mobile terminal 200.

In addition, although the control unit 100 (CPU 101) performs image processing, this is not limited to the above, and image processing may be performed by another computer.

In addition, although the case where the camera 15 is a monocular camera has been described, this is not limited thereto. For example, the camera 15 may be a stereo camera.

Although the notification unit 40 has been described as including the lamp 41 and the buzzer 42, the configuration of the notification unit 40 is not limited to this. For example, the notification unit 40 may have a display unit and issue an alarm to the operator by displaying an image on the display unit. For example, the display 206 of the mobile terminal 200 may be used as the display unit.

1. Tractor (work vehicle)
4 Running body 15 Camera (imaging unit)
25 Steering section 40 Notification section 100 Control section

Claims (3)

A traveling machine capable of traveling on a road;
An imaging unit capable of imaging the ground in front of the traveling machine body;
A notification unit capable of issuing a notification;
A control unit capable of executing a notification mode in which a step on the ground is detected as the edge of the road based on image data obtained by the imaging operation of the imaging unit, and the notification unit is activated if the distance between the traveling machine body and the edge of the road is equal to or less than a predetermined distance.
A work vehicle characterized by: The control unit is
In the notification mode, a predicted value corresponding to the time or distance required for the traveling vehicle to reach the edge of the road is calculated based on image data obtained by the imaging operation of the imaging unit, and the notification unit is activated if the predicted value is equal to or less than a predetermined value.
2. The work vehicle according to claim 1 . A steering unit that steers the traveling machine body,
The control unit is capable of executing an automatic steering mode for controlling the steering unit based on image data obtained by the imaging operation of the imaging unit.
3. A work vehicle according to claim 1 or 2.

Images