Field Work Vehicle Path Return Control for Autonomous Resumption
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Solution Overview
Problem
Agricultural field work vehicles face challenges in smoothly resuming autonomous travel after suspending work and moving off a target travel path, due to control system failures in detecting the travel path and potential damage from large steering corrections.
Innovation Solution
The vehicle records move-off information, determines if it can transition to autonomous travel by assessing proximity and alignment with the target path, and uses a manual operation tool to ensure smooth transition, preventing damage and notifying the driver for preparedness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the work vehicle manually returns to the work resumption position and then starts autonomous travel, then autonomous travel can be resumed after suspension, but the vehicle may not start autonomous travel even when near the resumption position if the control system fails to detect the travel path
Solution Approach 1:
The system performs preliminary actions by automatically guiding the vehicle to the work resumption position and pre-detecting the travel path before autonomous travel is initiated. The control section executes preliminary positioning and path verification, ensuring the vehicle is correctly positioned and the path is detectable before allowing autonomous travel to start, thereby resolving the reliability-ease of operation contradiction.
2Reliability
If the work vehicle resumes autonomous travel based on detected target travel path, then autonomous travel can be restarted, but the vehicle may be steered by a large amount when resuming autonomous travel and damage the agricultural field
Solution Approach 1:
The control section performs preliminary detection of the target travel path and calculates the optimal steering amount before autonomous travel resumes. By pre-identifying the path and pre-calculating steering adjustments, the system ensures accurate path following while minimizing sudden large steering movements that could damage the agricultural field.
Solution Approach 2:
The control section continuously monitors the vehicle's position relative to the target travel path and adjusts steering in real-time based on feedback from position detection. This closed-loop control prevents excessive steering corrections by constantly comparing actual position with target position and making incremental adjustments, thereby avoiding field damage while maintaining path accuracy.
3Ease of operation
If the vehicle automatically guides to work resumption position, then transition to autonomous travel is facilitated, but the driver may not be prepared for unexpected autonomous starts
Solution Approach 1:
The notification device provides continuous feedback to the driver about the vehicle's proximity to the work resumption position and the status of autonomous travel readiness. By notifying the driver of upcoming autonomous travel initiation, the system maintains driver awareness and prevents unexpected autonomous starts, while still facilitating smooth transition to autonomous mode.
Data Source
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AI summary
An agricultural field work vehicle includes: a move-off recording section configured to record, as move-off information, a move-off position Pb or a move-off travel path LM(4), the move-off information being information related to the vehicle body having moved off a target travel path while performing agricultural field work during autonomous travel, the move-off position Pb being a position at which the vehicle body moved off the target travel path, the move-off travel path LM(4) being the target travel path off which the vehicle body moved; and a work return management section configured to (i) select a resumption travel path LM(4) on the basis of the move-off information, the resumption travel path LM(4) being a travel path on which the agricultural field work vehicle, after the vehicle body moved off the target travel path, resumes performing agricultural field work, and (ii) manage a return of the vehicle body to the resumption travel path LM(4) or the move-off position Pb, wherein the work return management section includes a determining section configured to determine, while the agricultural field work vehicle is being manually driven for the vehicle body to return to the resumption travel path, whether the agricultural field work vehicle is able to transition from manual travel to autonomous travel.