Machine Turn Path Planning with Lane Crossing
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Solution Overview
Problem
Existing systems for planning a machine's travel path, such as those used in heavy machinery, are not optimal for varying terrain and environmental conditions, and do not efficiently manage interactions with other machines, leading to suboptimal performance and safety concerns during turns.
Innovation Solution
A system and method that uses a controller to identify a desired turn formed by two adjacent traffic lanes, determining whether to follow a lane crossing path based on information about other machines, allowing the machine to change lanes to perform the turn efficiently and safely, by selecting between standard and corner-cutting paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a machine follows a standard turn path within a single traffic lane, then it maintains safe distance from opposing traffic, but it takes more time and reduces productivity
Solution Approach 1:
The system dynamically adjusts the turn path based on real-time detection of opposing traffic. When the opposing lane is clear, the machine dynamically switches to a lane-crossing path that cuts through the center of the intersection, reducing turn time. When opposing traffic is detected, the system dynamically reverts to the standard single-lane path to maintain safety. This dynamic adaptation resolves the contradiction between safety and productivity.
Solution Approach 2:
The system changes the spatial parameters of the turn path by allowing the machine to cross into the opposing lane temporarily. This parameter change in lane position enables a shorter, more efficient turn path when conditions permit, thereby improving productivity without permanently compromising safety through the monitoring and control mechanisms.
2Productivity
If a machine uses a lane crossing path to cut the corner, then it reduces turn time and improves productivity, but it increases the risk of collision with opposing traffic
Solution Approach 1:
The system performs preliminary detection of the opposing lane condition before the machine enters the intersection. By detecting whether the opposing lane is clear in advance, the system determines whether it is safe to take the lane-crossing path. This preliminary action prevents collision by ensuring the opposing lane is free of traffic before the machine crosses into it, thus allowing productivity improvement without increasing collision risk.
Solution Approach 2:
The system continuously monitors the opposing lane for traffic and provides feedback to the path planning algorithm. This real-time feedback allows the system to adjust the turn path dynamically, switching between lane-crossing and standard paths based on current conditions. The feedback mechanism ensures that the machine only takes the higher-productivity lane-crossing path when it is safe to do so, thereby resolving the contradiction between productivity and collision risk.
3Adaptability or versatility
If a human operator manually plans the turn path, then it can adapt to varying conditions, but it requires operator skill and attention which may not always be available
Solution Approach 1:
The system performs self-service by automatically detecting opposing traffic, determining the appropriate turn path, and controlling the machine without requiring manual intervention. The path planning algorithm continuously monitors conditions and autonomously selects between lane-crossing and standard paths, eliminating the need for operator skill and attention while maintaining adaptability to varying conditions. This automation resolves the contradiction by providing both adaptability and ease of operation.
Solution Approach 2:
The system replaces the mechanical system of human operator decision-making with an automated electronic control system. The controller uses sensors to detect opposing traffic and algorithms to determine the optimal path, substituting human cognitive processes with electronic detection and computation. This substitution maintains adaptability through automated condition monitoring while dramatically improving ease of operation by eliminating operator dependency.
Data Source
AI summary
A system for controlling a first machine performing a turn includes a controller configured to identify a desired turn for the first machine. The desired turn is formed by two adjacent traffic lanes. The two traffic lanes include a first traffic lane and a second traffic lane. The controller is further configured to receive information regarding a second machine and determine whether to control the first machine to follow a lane crossing path for performing the desired turn based on the received information. The lane crossing path includes a portion of the first traffic lane and a portion of the second traffic lane such that the first machine changes between the first traffic lane and the second traffic lane to perform the desired turn.