Mobile Machine Collision Avoidance With Adaptive Deceleration Feedback
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Solution Overview
Problem
Existing collision avoidance systems for mobile work machines face challenges in ensuring timely deceleration and compensating for unpredictable disturbances such as road gradient, payload, and friction variations, which can lead to deviations between predicted and actual deceleration.
Innovation Solution
A method involving environmental sensors to determine relative position and movement, calculate target deceleration, and adapt control based on actual deceleration changes, using control algorithms to ensure precise and timely deceleration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If simplified deceleration models are used for collision avoidance calculations, then the system complexity is reduced, but the accuracy of deceleration prediction deteriorates due to unknown disturbances such as road gradient, payload, and friction variations
Solution Approach 1:
The system continuously monitors actual deceleration through inertial sensors and compares it with predicted deceleration from the simplified model. When deviations are detected (indicating disturbances like road gradient or payload changes), the system adjusts the collision avoidance algorithm in real-time to compensate for these disturbances, maintaining prediction accuracy without increasing overall system complexity
Solution Approach 2:
The system dynamically adjusts deceleration parameters based on detected actual versus predicted deceleration differences. By changing the deceleration model parameters in response to detected disturbances (such as adjusting for road gradient or friction variations), the system maintains accurate collision avoidance predictions while continuing to use the simpler computational approach
2Productivity
If the deceleration calculation uses constant deceleration assumption over the entire braking distance, then the calculation speed is improved, but the reliability of stopping before the obstacle deteriorates when actual deceleration differs from the assumed constant value
Solution Approach 1:
The system pre-calculates collision avoidance parameters using the simple constant deceleration model to ensure fast computation. However, it also pre-prepares compensation mechanisms that are activated in real-time when disturbances are detected, ensuring both rapid calculation and reliable stopping
Solution Approach 2:
The system uses inertial sensors to provide real-time feedback on actual deceleration performance. This feedback loop allows the system to detect when actual deceleration deviates from the constant assumption and adjust the stopping calculation dynamically, maintaining reliability while preserving the speed benefits of the simplified initial model
3Ease of operation
If unknown disturbances such as road gradient, payload, and friction variations are not compensated for, then the system operation is simpler, but the ability to ensure timely deceleration deteriorates
Solution Approach 1:
The system uses the mobile machine's own inertial sensors to automatically detect disturbances and self-correct the deceleration calculations. This self-service approach maintains operational simplicity by requiring no external intervention while ensuring reliable timely deceleration through automatic compensation for road gradient, payload, and friction variations
Data Source
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AI summary
The invention relates to a method for avoiding a collision of the mobile machine with an external object (99), wherein the mobile machine comprises at least one first environmental sensor (S1) which is positioned on a mobile machine (1) and which is used for the function of avoiding a collision of the mobile machine with an external object (99), wherein the method comprises the following steps: a. determining a relative position between the mobile machine and the object (99) b. determining a relative movement between the mobile machine and the object (99) and c. calculating a target deceleration of the mobile machine on the basis of the relative position determined in step a. and the relative movement determined in step b.; d. controlling or regulating the deceleration of the mobile machine on the basis of the target deceleration calculated in step c.; e.Recording an actual value of at least one physical quantity that has changed due to the control or regulation of step d.; f. Adjusting the control of the mobile machine or the regulation of the mobile machine based on the actual value recorded in step e.