Segmented Path Planning for Automatic Vehicle Guidance
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Solution Overview
Problem
Agricultural vehicles using automatic guidance systems face challenges in navigating contoured fields, particularly with irregular boundaries, as existing contour modes require manual intervention at corners and do not accommodate different vehicle sizes, leading to inefficiencies and increased risk of human error.
Innovation Solution
The method involves segmenting the contoured reference path into sections with sharp corners or edges, allowing for automatic detection and definition of intersection points, enabling the system to adapt path segments and radii, and switching between contour and segment modes for efficient navigation without manual path changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If contour mode is used to define a reference path line for irregular field boundaries, then the path can be used for various applications with different working widths and overlaps, but the radius is corrected by overriding with a standard radius which results in areas that may not be worked
Solution Approach 1:
The reference path line is segmented into multiple path sections, where each section can have its own radius characteristics. This allows the system to maintain different radius values for different segments rather than applying a single standard radius to the entire path, thereby preserving complete field coverage while still enabling the path to be used for various applications.
Solution Approach 2:
Different sections of the reference path line are assigned different quality characteristics, specifically different radius values. Each path section retains its locally appropriate radius rather than being uniformly standardized, allowing optimal adaptation to local field conditions while maintaining overall path versatility.
2Adaptability or versatility
If the vehicle drives along a curve with a small radius to accommodate irregular field boundaries, then the contour mode can record the reference path, but the curve radius may be too small for other vehicle combinations requiring greater turn radius
Solution Approach 1:
The reference path is divided into multiple sections, each with its own radius characteristics optimized for specific vehicle types. This segmentation allows the system to automatically select appropriate path sections based on vehicle combination requirements, eliminating the need for manual path redefinition while ensuring compatibility with different vehicle turn radii.
Solution Approach 2:
The system dynamically adjusts which path sections are active based on the specific vehicle combination being used. Rather than requiring manual intervention to redefine paths for different vehicles, the system automatically adapts the reference path line to match the operational requirements of each vehicle type.
3Ease of operation
If the operator manually steers and turns the vehicle at field ends in A/B mode, then the vehicle can navigate to the next line, but this requires deactivating and reactivating AG which increases manual intervention
Solution Approach 1:
The reference path line is pre-defined to include headland sections that automatically guide the vehicle through turning maneuvers at field ends. This preliminary preparation of the path eliminates the need for manual deactivation and reactivation of AG during headland turns, as the system continuously follows the pre-planned reference path through all sections including turns.
Solution Approach 2:
Automatic guidance remains continuously active throughout the entire operation including headland turns, rather than being deactivated and reactivated. The reference path line provides continuous guidance through all field sections and headland areas, maintaining uninterrupted automated control and eliminating time losses associated with manual intervention.
4Reliability
If a combine harvester with a wide header or tractor with large plough attempts to pass corners with a curve, then the vehicle may not be able to pass the corner properly, but aborting contour mode at every corner requires substantial manual intervention
Solution Approach 1:
The reference path line is segmented into multiple path sections with different radius characteristics. Some sections have larger radii suitable for vehicles with wide headers or large ploughs, while other sections maintain smaller radii for precise boundary following. This segmentation allows different vehicle types to select appropriate path sections, ensuring reliable corner passing without requiring manual mode changes.
Solution Approach 2:
The segmented reference path line serves multiple functions simultaneously: it provides precise boundary following for small vehicles, accommodates large vehicle turn radii requirements, and enables automatic guidance continuity. This multi-functional path structure eliminates the need for manual intervention while ensuring proper corner passing for various vehicle types.
Data Source
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Figure 3A~4B
AI summary
A method for defining a contoured path for an automatic guidance system comprises defining a plurality of reference path segments; for each segment, determining one or more intersection points respectively with other segments; and subsequently defining a contoured path as a sequence of intersecting segments. An automatic guidance system based on the method is also provided