Autonomous Work Machine Intersection Permission Using Entry-Exit Timing
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Solution Overview
Problem
Existing systems for managing permissions of autonomous work machines at intersections often result in inefficiencies and slowdowns when multiple machines request permission simultaneously, leading to suboptimal operation at worksites.
Innovation Solution
Autonomous work machines estimate entry and exit times for upcoming intersections and communicate these times to a management system, which determines optimal permission orders to avoid conflicts and minimize unnecessary stops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the management system grants permission to the work machine that requested permission first, then the permission management is simple, but the operational efficiency decreases and unnecessary stops occur
Solution Approach 1:
The work machines estimate and communicate their entry and exit times for intersections to the management system in advance, before reaching the intersection. This preliminary action allows the management system to predict potential conflicts and optimize permission granting order based on timing information rather than simple request order, thereby improving operational efficiency without excessive complexity
Solution Approach 2:
The permission management system transitions from a static first-come-first-served approach to a dynamic approach that considers real-time estimated entry and exit times. The management system adjusts permission granting decisions based on these dynamic timing parameters, optimizing throughput by allowing machines with earlier exit times to proceed first, even if they requested permission later
2Reliability
If the management system waits for the intersection to be cleared before granting permission to the next work machine, then collision safety is ensured, but the loss of time increases
Solution Approach 1:
Work machines communicate their estimated exit times from intersections to the management system in advance. This preliminary information allows the management system to grant permission to the next machine before the current machine has fully cleared the intersection, as long as the timing information confirms no conflict will occur, thereby reducing waiting time while maintaining safety
Solution Approach 2:
The system implements a feedback mechanism where work machines continuously provide estimated entry and exit time information to the management system. This feedback loop enables the management system to make informed permission decisions that balance safety requirements with time efficiency, adjusting permission granting based on real-time timing data from all machines
3Use of energy by moving object
If work machines stop and wait for permission at intersections, then permission management is simplified, but fuel consumption increases and operational efficiency decreases
Solution Approach 1:
By requiring work machines to communicate estimated entry and exit times in advance, the system enables proactive permission management. The management system can optimize permission granting to minimize stops and waiting, allowing machines to maintain momentum and reduce fuel consumption associated with repeated deceleration and acceleration cycles
Solution Approach 2:
The system changes the key parameter for permission management from simple request timestamp to a composite parameter including estimated entry time and estimated exit time. This parameter change enables more sophisticated optimization of permission granting decisions, reducing unnecessary stops and improving fuel efficiency while maintaining manageable operational complexity
Data Source
AI summary
Traditionally, a management system, which grants permissions to autonomous work machines for negotiating intersections, will grant permissions in the order in which they are requested. However, this technique can often result in slowdowns and other inefficiencies in operations at the worksite. Accordingly, in disclosed embodiments, the work machines estimate entry and exit times for upcoming intersections, send these estimated times to the management system, and wait for permissions to enter the intersections. The management system determines whether conflicts exist based on the estimated times, and when a conflict exists, prioritizes the work machines involved in the conflict based on one or more factors. Then, the management system grants permissions according to the determined priorities, to thereby optimize the negotiation of intersections within the worksite.