Work Vehicle Auto Steering at Key-On Using Saved Orientation
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Solution Overview
Problem
Existing work vehicles cannot accurately estimate orientation immediately after the key-on operation at extremely low speeds, preventing automatic steering activation until the vehicle reaches a certain speed, such as 0.45 km/h, which is inconvenient for tasks requiring low-speed operation.
Innovation Solution
A work vehicle equipped with a positioning system and a controller that estimates orientation based on position changes, stores it in a non-volatile memory during a key-off operation, and initiates automatic steering control using this orientation upon key-on, allowing steering activation even at extremely low speeds without increasing speed to the reference speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automatic steering control is activated immediately after key-on operation at extremely low speeds, then the ease of operation is improved, but the measurement precision of orientation deteriorates because time series position data is insufficient
Solution Approach 1:
The system performs preliminary action by storing the orientation value in non-volatile memory immediately before key-off operation. This pre-stored orientation data is then retrieved and used as the initial orientation after key-on operation, eliminating the need to wait for sufficient time series position data to accumulate at extremely low speeds, thus resolving the contradiction between ease of operation and measurement precision.
2Measurement precision
If the vehicle speed is increased to reach a certain speed (e.g., 0.45 km/h) before activating automatic steering, then the measurement precision of orientation is improved, but the productivity is reduced due to unnecessary speed increase and time loss
Solution Approach 1:
The orientation data is captured and stored in non-volatile memory at the moment before key-off operation. This preliminary capture of orientation information allows the system to bypass the requirement of increasing vehicle speed to a certain threshold for orientation estimation, thereby maintaining measurement precision while avoiding productivity loss from unnecessary speed changes and time delays.
3Reliability
If automatic steering is disabled until the vehicle reaches a certain speed, then the reliability of automatic steering control is improved, but the ease of operation deteriorates due to restricted activation conditions
Solution Approach 1:
The system ensures reliability by capturing and storing the orientation value in non-volatile memory immediately before key-off operation. This pre-stored reliable orientation data enables automatic steering control to be activated reliably after key-on operation even at extremely low speeds, without requiring the vehicle to reach a certain speed threshold, thus resolving the contradiction between reliability and ease of operation.
Data Source
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AI summary
A work vehicle (100) capable of automatic steering driving includes a positioning system (120) to perform positioning of the work vehicle, and a controller (180) including a non-volatile memory. The controller is configured or programmed to estimate an orientation of the work vehicle based on a change over time of a position of the work vehicle measured by the positioning system, perform automatic steering control of the work vehicle based on the position and the orientation of the work vehicle and a set target route, store the orientation of the work vehicle in the non-volatile memory in response to a key-off operation of the work vehicle, and after a key-on operation of the work vehicle is performed, initiate the automatic steering control using the orientation stored in the non-volatile memory as an initial orientation of the work vehicle.