Auto-Steer Work Vehicle Turning Control for Path Deviation Alerts
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Solution Overview
Problem
Existing work vehicles face challenges in maintaining smooth and accurate automatic steering, particularly when turning, as they tend to mistrack from the intended path, leading to potential straying out of the field or collisions with objects.
Innovation Solution
A control system for work vehicles that includes a storage device for a target path and a controller to manage steering, using positioning data from devices like GNSS receivers or LiDAR sensors, which alerts the user with alarms if the vehicle deviates beyond a reference distance from the path during turns, and adjusts speed based on path curvature to prevent mistracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the work vehicle travels at higher speed during automatic steering, then productivity is improved, but the vehicle tends to mistrack from the intended path, leading to deviation and potential straying out of the field
Solution Approach 1:
The control system dynamically adjusts steering parameters based on real-time vehicle speed and path curvature. The steering gain and response characteristics are automatically modified according to the current operating conditions, allowing the vehicle to maintain accurate path tracking whether traveling at high speeds during straight sections or at lower speeds during turns.
Solution Approach 2:
The system changes steering control parameters such as proportional gain, derivative gain, and integral gain based on detected path curvature and vehicle speed. By adapting these control parameters to the specific operating conditions, the system maintains optimal path tracking accuracy across varying speeds and turn radii.
2Productivity
If the work vehicle makes sharp turns to efficiently navigate the field, then productivity is improved, but the vehicle stability deteriorates, increasing the risk of straying out of the field or colliding with objects
Solution Approach 1:
The control system performs preliminary deceleration before the vehicle enters a turn section. By reducing speed in advance when a turn is detected, the system ensures the vehicle maintains stable and accurate path following throughout the turning maneuver, preventing deviation and potential collisions.
Solution Approach 2:
The system applies counter-steering adjustments in advance to compensate for anticipated path deviation during turns. By predicting the tendency to mistrack based on vehicle dynamics and turn characteristics, the control system pre-adjusts the steering angle to counteract the expected deviation, maintaining vehicle stability and path accuracy.
3Measurement precision
If the work vehicle decelerates before turns to maintain stability, then path tracking accuracy is improved, but the time required for turning operations increases, reducing productivity
Solution Approach 1:
The control system applies periodic steering adjustments during the turning maneuver rather than relying solely on preliminary deceleration. By making continuous, rhythmic steering corrections throughout the turn, the system maintains path tracking accuracy while minimizing the need for excessive speed reduction, thus reducing the time penalty associated with turning.
Data Source
AI summary
A control system for a work vehicle that performs auto-steer driving includes a storage to store a target path for the work vehicle, and a controller configured or programmed to control steering of the work vehicle so that the work vehicle travels along the target path based on a position of the work vehicle identified by a position identifier and the target path stored in the storage. The target path includes parallel main paths and one or more turning paths interconnecting the plurality of main paths. When the work vehicle is turning along one of the turning paths via automatic steering, if the position of the work vehicle becomes deviated from the turning path by more than a reference distance, the controller is configured or programmed to cause an alarm generator to output an alarm.