Track-Relative Steering Control for Precise Guided Vehicle Alignment

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Solution Overview

Problem

Existing motion control technologies for unmanned forklifts, such as satellite positioning, odometer positioning, and SLAM laser positioning, are inadequate for controlling vehicles in environments with physical track constraints, leading to inaccurate path following.

Innovation Solution

A vehicle control method and apparatus that utilizes distance detection sensors to measure distances to parallel tracks, determines offset information of the vehicle's symmetrical centerline relative to the track centerline, and adjusts steering wheel angles to ensure the vehicle travels along the track centerline, using a path planning algorithm to achieve precise alignment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If satellite positioning, odometer positioning, or SLAM laser positioning is used for motion control, then the vehicle can operate in open environments, but the path following accuracy deteriorates in environments with physical track constraints

Engineering Contradiction:

Improveenvironmental adaptabilityVSAvoidpath following accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The patent implements a feedback control mechanism by continuously detecting the distance between the vehicle and the track centerline, calculating the lateral offset, and adjusting the steering angle based on this offset information. This closed-loop feedback system enables the vehicle to maintain high path following accuracy in physical track environments by constantly correcting its position relative to the track centerline

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent changes the control parameter from generic positioning data (satellite coordinates, odometer readings, or laser map points) to specific track-relative parameters including lateral offset distance, offset angle, and steering angle. This parameter transformation enables precise control adapted to physical track constraints by expressing the vehicle's position and orientation relative to the track centerline rather than in global coordinates

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If distance detection sensors are used to detect distances to parallel tracks, then the control accuracy for track following is improved, but the device complexity increases

Engineering Contradiction:

Improvetrack following control accuracyVSAvoidsensor and control system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent makes the distance detection sensor serve multiple functions: it detects the distance to both the first track and the second track, from which the system calculates both the lateral offset distance and the offset angle. This multi-functionality reduces the need for additional sensors while achieving comprehensive track relative positioning information

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The patent replaces complex mechanical positioning systems (such as mechanical track followers or multiple specialized sensors) with a combination of distance detection sensors and computational algorithms. The system uses optical/electronic distance measurement combined with mathematical calculations to determine position and orientation, substituting mechanical complexity with computational simplicity

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables high-precision control of vehicles to follow physical tracks by adjusting steering wheel angles based on detected distances and offset information, ensuring accurate alignment with the track centerline.

Implementation Method 1

detecting a first distance between the vehicle and the first track, and detecting a second distance between the vehicle and the second track

Methodology Applied

Scientific EffectTime of Flight: Time of Flight

Data Source

PatentUS20250263118A1Vehicle control method, electronic device, and storage medium

Publication Date: 2025.08.21 VISIONNAV ROBOTICS USA INC

AI summary

Embodiments of the present application discloses a vehicle control method and apparatus, an electronic device and a storage medium, the vehicle includes at least one steering wheel, and the method includes: detecting a first distance between the vehicle and a first track, and a second distance between the vehicle and a second track, determining, according to the first distance and the second distance, offset information of a symmetrical centerline of the vehicle relative to a track centerline, determining, according to the offset information and position information corresponding to the to-be-controlled steering wheel, a first rotation angle control quantity of a to-be-controlled steering wheel, and controlling, according to the first rotation angle control quantity, rotation of the to-be-controlled steering wheel, such that during travel of the vehicle, the symmetrical centerline of the vehicle overlaps with the track centerline.