Mobile Object Trajectory Control Using Retina Sphere Curl Components
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing travel support apparatuses for mobile objects struggle to determine a smooth trajectory when the turning radius of the mobile object changes, leading to unsmooth determined trajectories.
Innovation Solution
An apparatus that includes a gaze point setter, a motion detector, and a curl component calculator, which projects relative motion in a coordinate system formed by modeling a retina sphere to calculate rotational components and sets an equal-magnitude line as the target trajectory, ensuring smooth navigation even with changing turning radii.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the travel support apparatus determines trajectory based on minimum visual relative motion of reference points, then the trajectory matches driver's feeling in steady-state conditions, but the trajectory becomes unsmooth when turning radius changes
Solution Approach 1:
The patent changes the parameter used for trajectory determination from minimum visual relative motion to minimum curl component magnitude. This parameter substitution allows the system to adapt to changing turning radii while maintaining smooth trajectory determination, as the curl component method inherently handles dynamic turning conditions better than the minimum visual relative motion method.
2Device complexity
If the apparatus uses minimum visual relative motion to set trajectory points, then control is simple in steady-state, but lateral shift occurs when turning radius changes
Solution Approach 1:
The patent substitutes the parameter for trajectory point determination from minimum visual relative motion to minimum curl component magnitude. This change maintains computational simplicity while significantly improving position accuracy under dynamic turning conditions, eliminating the lateral shift problem without increasing system complexity.
Data Source
AI summary
In an apparatus for supporting drive of a mobile object, a curl component calculator projects relative motion of a environmental field in a coordinate system formed by modeling a retina sphere of a driver of the mobile object. The curl component calculator calculates each of rotational components of the projected relative motion of the environmental field around a corresponding driver's eye direction to the gaze point. A target trajectory setter sets, as a target trajectory of the mobile object, an equal-magnitude line connecting a part of the rotational components of the projected relative motion of the environmental field, the part of the rotational components having a same magnitude.