Mobile Object Path Switching for Obstacle Avoidance Off Prescribed Routes
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Solution Overview
Problem
Existing technologies face difficulties in allowing a mobile object traveling on a prescribed path to temporarily deviate from the path and avoid obstacles, due to the need for extensive road surface texture information and the absence of magnetic markers outside the prescribed path.
Innovation Solution
A mobile object control device that includes a prescribed path information acquisition unit, an obstacle information acquisition unit, a position orientation information acquisition unit, and a traveling path determination unit, which judges whether to switch the traveling path from the prescribed path to an alternative path to avoid obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If road surface texture information is used for path guidance, then the mobile object can travel on the prescribed path, but an enormous amount of road surface texture information is needed outside the prescribed path, making the load for acquiring and processing the information excessive
Solution Approach 1:
The patent divides the guidance system into two segments: prescribed paths with embedded magnetic markers for reliable positioning, and off-path areas using camera-based texture information for obstacle detection and alternative path finding. This segmentation allows each segment to use the most appropriate sensing method, reducing overall system complexity while maintaining reliability.
Solution Approach 2:
The patent introduces an intermediary system that combines magnetic marker data for position correction on prescribed paths with camera-based texture information for obstacle detection and alternative path planning. This intermediary approach allows the system to leverage the strengths of both methods without requiring the full processing burden of texture information everywhere.
2Measurement precision
If magnetic markers are buried only on the prescribed path, then the mobile object can be guided accurately on the prescribed path, but it is impossible to correct the estimated value of actual traveling distance outside the prescribed path
Solution Approach 1:
The patent implements a dynamic path correction system that adapts based on the mobile object's location. When on a prescribed path with magnetic markers, the system uses marker-based correction for high precision. When off-path to avoid obstacles, it dynamically switches to camera-based texture information for position estimation and alternative path finding, then returns to marker-based correction when back on the prescribed path.
Solution Approach 2:
The patent creates a universal positioning system that can operate in multiple modes: magnetic marker-based positioning on prescribed paths and camera-based texture information processing for off-path areas. This multi-functionality allows the system to maintain measurement precision on prescribed paths while gaining the adaptability to operate and find alternative paths outside the prescribed route.
3Adaptability or versatility
If the mobile object switches to a path outside the prescribed path to avoid an obstacle, then it can avoid the obstacle, but the control quantity for the mobile object cannot be determined on the basis of the corrected actual traveling distance
Solution Approach 1:
The patent performs preliminary action by pre-embedding magnetic markers along the prescribed path at known intervals. These markers serve as reference points that allow the system to calculate actual traveling distance with high precision when the mobile object is on the prescribed path. Before switching to an alternative path, the system records the position and distance information, enabling it to later correct and determine the control quantity based on the accumulated distance data even when off-path.
Data Source
AI summary
The mobile object control device includes: a prescribed path information acquisition unit which acquires prescribed path information; an obstacle information acquisition unit which acquires obstacle information; a position orientation information acquisition unit which acquires position orientation information; and a traveling path determination unit which judges whether or not a vehicle is traveling on a prescribed path, and judges whether or not there is a possibility that the vehicle collides with an obstacle, and then, if it is judged that there is the possibility of the collision, determines whether or not to cause the vehicle to travel on a prescribed-path-outside traveling path.