Reverse Vehicle Guidance with Curvature-Adaptive Preview Distance
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Solution Overview
Problem
Reversing heavy-duty vehicles, especially those with articulation joints, is challenging, particularly in narrow areas, as existing reverse assistance systems do not adequately account for path curvature, leading to instability and inaccuracies in following desired paths.
Innovation Solution
The method involves dynamically adjusting the preview distance based on the curvature of the desired traveling path, with the preview distance increasing for smaller curvatures and decreasing for tighter curvatures, allowing for adaptive guidance by adjusting the preview point to improve path tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed preview distance is used for reversing guidance, then the system is simple to implement, but the path following accuracy deteriorates in curved paths
Solution Approach 1:
The preview distance is changed from a fixed value to a dynamically adjustable parameter that varies based on the curvature of the desired path. The control system continuously adapts the preview distance to match the local path geometry, improving following accuracy without requiring complex manual configuration
Solution Approach 2:
The system modifies the preview distance parameter according to the curvature characteristics of the desired path. By calculating the curvature from path geometry and adjusting the preview distance accordingly, the system optimizes guidance accuracy for different path shapes while maintaining reasonable system complexity
2Stability of the object's composition
If a long preview distance is used, then the vehicle stability improves, but the ability to follow tight curvatures deteriorates
Solution Approach 1:
The preview distance is dynamically adjusted based on real-time curvature measurements. For straight or gently curved paths, a longer preview distance maintains stability, while for tight curves, the system automatically reduces the preview distance to improve following accuracy
Solution Approach 2:
The system changes the preview distance parameter as a function of path curvature. This parameter adaptation allows the guidance system to optimize between stability and accuracy by selecting appropriate preview distances for different path segments
3Manufacturing precision
If a short preview distance is used, then the path following accuracy improves for tight curves, but the vehicle stability deteriorates
Solution Approach 1:
Rather than using a uniformly short preview distance, the system dynamically selects the appropriate preview distance based on curvature. This allows short preview distances to be used only when necessary for tight curves, while longer distances are used elsewhere to maintain stability
Solution Approach 2:
The preview distance parameter is adjusted according to curvature thresholds. The system transitions between different preview distance regimes based on the severity of the curve, optimizing both accuracy and stability across varying path conditions
4Manufacturing precision
If the preview distance is adaptively adjusted based on curvature, then the path following accuracy improves, but the system complexity increases
Solution Approach 1:
The system adjusts the preview distance parameter based on curvature calculations from the desired path geometry. This parameter adaptation improves accuracy while relying on standard computational methods already present in modern vehicle control systems
Solution Approach 2:
The system uses feedback from the desired path geometry to continuously adjust the preview distance. By monitoring path curvature and adapting the preview distance accordingly, the system improves following accuracy through a closed-loop approach using existing sensor and computation capabilities
Data Source
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AI summary
The invention relates to a method for guiding a vehicle (1) during reversing along a desired travelling path (TP), wherein the guiding is based on a lateral offset (y) between a preview point (P) located at a preview distance (Pd) behind the vehicle (1) and the desired travelling path (TP), the method comprising: - determining (S1) a curvature of the desired travelling path (TP) behind the vehicle (1); - adaptively adjusting (S2) the preview distance (Pd) in dependence on the determined curvature, thereby adaptively adjusting the preview point (P); and - guiding (S3) the vehicle (1) along the desired travelling path (TP) by use of the lateral offset (y) between the adjusted preview point (P) and the desired travelling path (TP). The present invention further relates to a control unit (100), to a vehicle (1), to a computer program and to a computer readable medium.