Headland Route Selection for Autonomous Work Vehicles
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Solution Overview
Problem
Existing autonomous traveling control systems for work vehicles do not provide a detailed method for creating routes in headland regions, which differ significantly from work regions, leading to inefficiencies in route creation and use.
Innovation Solution
An autonomous traveling control system that selects a suitable edge in the headland region based on distance and orientation of the work vehicle, using a configuration including a field information storage unit, positioning unit, orientation detection unit, determination distance and angle calculation units, and a traveling control unit to create and manage headland traveling auxiliary routes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a simple route creation method is used, then the system is easy to operate, but it cannot handle the complex characteristics of headland regions
Solution Approach 1:
The system applies different route creation methods to different regions: work region routes use one approach while headland region routes use another. The route creation is locally adapted based on whether the vehicle is in a work region or headland region, allowing simple operation within each region type while handling the complexity of headland-specific characteristics through region-specific algorithms.
2Measurement precision
If multiple edges are considered for route selection, then the route selection accuracy improves, but the calculation complexity increases
Solution Approach 1:
The system evaluates multiple edges by calculating determination distances and determination angles as parameters. By changing and comparing these parameters for each edge, the system accurately selects the most appropriate edge for route creation while managing calculation complexity through defined evaluation criteria.
3Manufacturing precision
If the vehicle position and orientation are precisely considered, then the route accuracy improves, but the processing time increases
Solution Approach 1:
The system performs preliminary calculations of determination distances and determination angles for multiple edges before final route selection. By preparing these evaluation parameters in advance, the system achieves precise route creation based on vehicle position and orientation while reducing the time required for final decision-making.
Data Source
AI summary
This autonomous traveling control system is capable of generating, in a headland region which is in a farm field surrounded by peripheries formed from a plurality of edges and which is formed between the peripheries and a work region in which a work vehicle works while traveling autonomously, a headland traveling auxiliary route along which the work vehicle travels autonomously. The autonomous traveling control system selects, from among the plurality of edges, a selective edge for generating the headland traveling auxiliary route, on the basis of the distance between the edges and the vehicle position of the work vehicle and of the angles formed between the edges and the vehicle orientation of the work vehicle.