Side-Following Unmanned Vehicle Control to Prevent Collision
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Solution Overview
Problem
Conventional unmanned following vehicles may collide with moving objects due to sudden starts and are difficult for the moving object to monitor, leading to challenges in handling emergency situations.
Innovation Solution
The unmanned following vehicle is designed to move parallel to the moving object on either side, adjusting speed and steering based on Y-axis and X-axis coordinate differences, and distance adjustments based on Z-axis differences, using encoders and UWB sensors for precise control, allowing the moving object to frequently check and manage the vehicle's situation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the unmanned following vehicle operates autonomously behind the moving object, then it can maintain a reference distance through autonomous driving, but it may collide with the moving object when suddenly starting due to abnormal causes
Solution Approach 1:
The patent inverts the conventional following position from behind the moving object to the side (left or right) of the moving object. This positional inversion eliminates the collision risk associated with sudden forward acceleration while maintaining autonomous following capability, as the vehicle now moves laterally rather than longitudinally relative to the target object.
2Extent of automation
If the unmanned following vehicle operates autonomously behind the moving object, then it can maintain a reference distance, but the moving object cannot frequently check the situation of the following vehicle
Solution Approach 1:
The patent transitions the following vehicle from a one-dimensional longitudinal position (behind the object) to a two-dimensional lateral position (side of the object). This dimensional change improves visibility and communication between the moving object and the following vehicle, allowing the moving object to frequently check the situation while the following vehicle maintains autonomous operation.
3Reliability
If the unmanned following vehicle follows on the left or right side, then it can move in parallel with the moving object, but it requires precise control of speed and steering based on coordinate differences
Solution Approach 1:
The patent implements a feedback control system that continuously monitors the coordinate differences (X-axis and Y-axis) between the following vehicle and the moving object, and adjusts speed and steering accordingly. This feedback mechanism enables precise parallel following while maintaining manageable control complexity through systematic error correction.
Solution Approach 2:
The patent replaces complex mechanical control systems with electronic control based on coordinate difference calculations. By using sensors to detect position and computing the required speed and steering adjustments, the system achieves precise control with reduced mechanical complexity.
Data Source
AI summary
An unmanned following vehicle includes a controller that controls the unmanned following vehicle to move in parallel with a moving object by following the moving object on a left side or a right side of the moving object. For example, the controller adjusts a moving speed of the unmanned following vehicle according to a Y-axis coordinate difference value, which is a difference value between a position of the moving object and a position of the unmanned following vehicle in a forward direction. The controller also adjusts a steering direction and a steering angle of the unmanned following vehicle according to an X-axis coordinate difference value, which is a difference value between the position of the moving object and the position of the unmanned following vehicle in a lateral direction.