Reversing Path Guidance Using Curvature-Adaptive Preview Control
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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 effectively adapt to path curvature, leading to instability and poor path following.
Innovation Solution
A method that dynamically adjusts the preview distance based on the curvature of the desired traveling path by determining the curvature at multiple points and using the largest or difference between curvatures to adjust the preview point, ensuring improved stability and path following.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed preview distance is used for reversing guidance, then the system is simple to implement, but the vehicle stability and path following accuracy deteriorate when reversing in different curvature conditions
Solution Approach 1:
The preview distance is made dynamic rather than fixed. The control unit continuously adjusts the preview distance based on the detected curvature of the desired traveling path. When the path curvature increases (tighter turns), the preview distance is reduced to improve path following accuracy. When the path curvature decreases (straighter sections), the preview distance is increased to improve vehicle stability. This dynamic adaptation resolves the contradiction between adaptability and complexity.
Solution Approach 2:
The system changes the parameter of preview distance based on the curvature parameter of the traveling path. By detecting curvature and using it to modulate the preview distance parameter, the system achieves adaptability to different reversing conditions. This parameter-based control allows the same hardware to adapt to varying operational requirements without increasing physical complexity.
2Stability of the object's composition
If a long preview distance is used, then vehicle stability is improved in straight sections, but path following accuracy deteriorates in tight curvatures
Solution Approach 1:
The preview distance dynamically adapts to path curvature conditions. In straight sections with low curvature, the system uses a longer preview distance to enhance vehicle stability during reversing. In tight curvatures with high curvature, the system automatically reduces the preview distance to maintain accurate path following. This dynamic adjustment eliminates the need to choose between stability and accuracy, as both are optimized for their respective operating conditions.
Solution Approach 2:
Different preview distances are applied locally based on the specific path segment being traversed. Rather than using a uniform preview distance throughout the entire reversing maneuver, the system tailors the preview distance to the local curvature characteristics of each path segment, ensuring optimal performance for both straight and curved sections.
3Manufacturing precision
If a short preview distance is used, then path following accuracy is improved in tight curvatures, but vehicle stability deteriorates in straight sections
Solution Approach 1:
The system dynamically switches between short and long preview distances based on real-time curvature detection. When operating in tight curvatures, the system employs a short preview distance to achieve accurate path following. When transitioning to straight sections, the system automatically extends the preview distance to restore vehicle stability. This dynamic switching resolves the contradiction by adapting the preview distance to the immediate operational context.
Data Source
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); andguiding (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.