Work Vehicle, Control Method, And Control System

Abstract: This work vehicle performs autonomous driving, and is provided with: one or more sensors that sense the environment around the work vehicle and output sensor data; a control device that controls the autonomous driving of the work vehicle on the basis of the sensor data; and a coupling device for coupling an implement. When the work vehicle performs autonomous driving with the implement coupled thereto, the control device: detects and classifies an object on the basis of the sensor data; determines a first degree of impact, which is the magnitude of impact when the object contacts the work vehicle, and a second degree of impact, which is the magnitude of impact when the object contacts the implement, according to the classification result of the object; and performs either an operation for avoiding the contact with the object or an operation for continuing the autonomous driving without performing the operation for avoiding, according to at least one of the first degree of impact and the second degree of impact.

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