Autonomous Route Posture Planning for Restricted Turnability
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Solution Overview
Problem
Unmanned delivery vehicles may not be able to arrive at their destination due to limitations in their travel path, particularly when the path restricts their ability to turn and change posture, leading to potential rollovers or inability to advance.
Innovation Solution
An autonomous traveling system that includes a target route setting unit, information storage unit for turnability, and a travel planning unit to determine the optimal traveling posture and turn execution points based on road width and vehicle dimensions, allowing the vehicle to adjust its posture to navigate through restricted sections and prevent rollovers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the autonomous traveling body follows a fixed target route, then the route is simple to set, but the vehicle cannot adapt to restricted turnability or narrow road sections
Solution Approach 1:
The system performs preliminary analysis of turnability information for each point on the target route before execution. The travel planning unit pre-determines appropriate traveling postures and identifies turn execution points based on stored turnability data, so that when the vehicle reaches each point, the appropriate action is already planned and ready to execute.
Solution Approach 2:
The system dynamically adjusts the traveling posture of the autonomous vehicle based on real-time location and pre-analyzed turnability information. The travel planning unit continuously determines optimal postures for each traveling section and identifies where turns should be executed, allowing the vehicle to adapt its behavior to varying road conditions along the route.
2Reliability
If the vehicle maintains a fixed traveling posture, then control is simple, but the vehicle cannot navigate narrow sections or avoid rollovers
Solution Approach 1:
The system pre-determines the appropriate traveling posture for each traveling section based on stored turnability information and vehicle dimensions. This preliminary posture planning ensures that when the vehicle enters each section, it already knows the correct posture to maintain, preventing rollovers and navigation failures before they occur.
Solution Approach 2:
The system changes the traveling posture parameters (orientation, angle) based on the specific characteristics of each traveling section. The travel planning unit determines optimal posture parameters considering road width, vehicle dimensions, and turnability constraints, allowing the vehicle to adapt its physical configuration to match environmental requirements.
3Ease of operation
If the vehicle turns at every point on the route, then posture adjustment is frequent, but travel time increases significantly
Solution Approach 1:
Instead of turning at every point, the system performs turns only at necessary turn execution points where the traveling posture needs to change. The travel planning unit identifies minimal set of turn points based on upcoming road constraints, performing only the necessary posture adjustments to maintain safe and efficient travel.
Solution Approach 2:
The system pre-identifies turn execution points along the route based on turnability information and upcoming traveling section characteristics. This allows the vehicle to plan its turning actions in advance, executing turns only when necessary rather than continuously, thereby reducing unnecessary stops and maintaining better travel efficiency.
4Productivity
If the vehicle ignores turnability information, then navigation is simpler, but the vehicle may roll over or be unable to advance
Solution Approach 1:
The system pre-analyzes turnability information for each point on the target route and stores this data. Before the vehicle reaches any critical section, the travel planning unit has already determined the appropriate posture and identified necessary turn execution points, eliminating rollover risks through advance planning rather than reactive measures.
Solution Approach 2:
The system uses stored turnability information as feedback to continuously adjust the travel plan. The travel planning unit references pre-stored turnability data at each decision point to determine optimal posture and turn execution points, creating a closed-loop system that prevents rollovers by anticipating constraints before they become problems.
Data Source
AI summary
An autonomous traveling system includes: an information storage unit storing beforehand, for each of points on a target route from a departure place to a destination, turnability information indicating whether an autonomous traveling body traveling autonomously along the target route can turn to change a traveling posture thereof; and a travel planning unit determining the traveling posture with respect to each of traveling sections connecting the points, and determines, from among the points, a turn execution point at which the autonomous traveling body turns in order to take the determined traveling posture in each of the traveling sections, based on the turnability information, wherein the autonomous traveling body includes a travel control execution unit executing control for causing the autonomous traveling body to turn every time the autonomous traveling body reaches the turn execution point and to advance in each of the traveling sections in the determined traveling posture.