Magnetic Marker Vehicle Steering Using Azimuth-Corrected Control
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Solution Overview
Problem
Positional errors in laying magnetic markers lead to errors in lateral shift detection, potentially impairing smooth vehicle travel through automatic steering, and increase construction costs.
Innovation Solution
A vehicle traveling control method that matches the measured azimuth from a gyro sensor with a target azimuth, using lateral shift amounts to correct control, rather than directly controlling the lateral shift, thereby reducing the impact of positional errors in magnetic markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If magnetic markers are laid with high precision to reduce positional errors, then measurement precision of lateral shift amount is improved, but construction cost increases
Solution Approach 1:
The invention converts the harmful effect of marker positional errors into a beneficial correction mechanism. By detecting the actual positions of magnetic markers and calculating lateral shift amounts that compensate for these errors, the system transforms the problem of imprecise marker placement into an opportunity for automated correction, allowing smooth vehicle travel even with imperfectly placed markers
Solution Approach 2:
The invention changes the control parameter from direct lateral shift control to azimuth angle control. By controlling the vehicle's azimuth (heading angle) rather than directly controlling lateral shift amount, the system reduces sensitivity to marker position errors. The lateral shift amount becomes a correction term rather than the primary control parameter, thereby reducing the impact of marker placement inaccuracies
2Speed
If lateral shift amount is used for direct steering control, then automatic steering responsiveness is improved, but smooth traveling is impaired due to positional errors in magnetic markers
Solution Approach 1:
The invention changes the primary control parameter from lateral shift amount to azimuth angle. The steering control now regulates the vehicle's heading angle to match a target azimuth, while the lateral shift amount derived from marker positions serves only as a correction term. This parameter change makes the control system less sensitive to marker position errors while maintaining responsiveness
Solution Approach 2:
The invention introduces feedback by continuously detecting the actual positions of magnetic markers and using this information to calculate corrected lateral shift amounts. The system measures the deviation from ideal marker positions and applies compensatory adjustments to the steering control, creating a closed-loop system that maintains smooth travel despite marker placement errors
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for smooth vehicle travel by minimizing the influence of lateral shift errors, maintaining control accuracy while reducing unnecessary steering and construction costs associated with precise marker placement.
Implementation Method 1
a measured value of an azimuth measured by an azimuth measuring part including a gyro sensor
Implementation Method 2
a vehicle-side magnetic detection unit in which a plurality of magnetic sensors are arranged in the vehicle width direction to detect magnetic markers
Data Source
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AI summary
A vehicle traveling control method for causing a vehicle to travel along a traveling road where magnetic markers are arrayed is a control method including an azimuth measuring process (S205) of performing a process on angular velocity, which is an output of a gyro sensor, and measuring a measured azimuth indicating an orientation of the vehicle, a control process (S208) of controlling the vehicle so that the measured azimuth is matched with a target azimuth corresponding to a direction of the traveling road, and a correction process (S207) of correcting a degree of control by the control process, in order to bring a lateral shift amount of the vehicle with reference to each of the magnetic markers closer to zero, in accordance with the lateral shift amount.