Vehicle Azimuth Control for Magnetic Marker Placement Errors
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Solution Overview
Problem
The placement errors of magnetic markers in automatic steering systems lead to inaccuracies in lateral shift detection, potentially impairing smooth vehicle travel, and increase construction costs due to the need for high-accuracy marker placement.
Innovation Solution
A vehicle traveling control method and system that measures the vehicle's azimuth and corrects its lateral shift relative to magnetic markers by matching the measured azimuth with a target azimuth, using a control system that includes an azimuth measuring part, a control part, and a correcting part to minimize the impact of marker placement errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If magnetic markers are laid with high positional accuracy to ensure smooth vehicle travel, then traveling smoothness is improved, but construction cost increases
Solution Approach 1:
The patent introduces an azimuth measuring part (gyro sensor) as an intermediary to measure vehicle orientation independently of marker positions. The control part uses this measured azimuth to calculate lateral shift amounts and control vehicle position, mediating between the vehicle and markers to eliminate the direct dependency on precise marker placement
Solution Approach 2:
The patent replaces the mechanical/physical dependency on precisely placed magnetic markers with an azimuth measurement system using gyro sensors. Instead of relying on the physical position of markers to determine lateral shift, the system uses angular velocity integration to measure azimuth and derive position information, substituting a sensor-based measurement approach for a marker-position-based approach
2Device complexity
If direct control by lateral shift amount is used, then vehicle position control is simplified, but traveling smoothness deteriorates due to marker placement errors
Solution Approach 1:
The patent implements feedback by continuously measuring vehicle azimuth using the gyro sensor and using this information to correct control deviations. The control part calculates lateral shift amounts based on measured azimuth and uses this feedback to adjust vehicle position, creating a closed-loop control system that compensates for marker placement errors
Solution Approach 2:
The measured azimuth serves as an intermediary parameter between the vehicle's actual position and the control input. Instead of directly using lateral shift amount from marker positions, the system uses azimuth as an intermediate measurement that is less sensitive to marker placement errors, thereby improving traveling smoothness while maintaining control effectiveness
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
This approach reduces the likelihood of smooth travel disruptions caused by lateral shift errors, allowing for accurate lane keeping without direct control based on lateral shift amounts, thereby improving vehicle control and reducing the influence of marker placement inaccuracies.
Implementation Method 1
a gyro sensor that measures angular velocity about a downward axis of the vehicle
Implementation Method 2
a magnetic sensor that measures magnetic flux density in a vehicle width direction and in a forwarding direction
Data Source
AI summary
A vehicle traveling control method for causing a vehicle to travel along a traveling road where magnetic markers are arrayed is a control method including an azimuth measuring process of performing a process on angular velocity, which is an output of a gyro sensor, and measuring a measured azimuth indicating an orientation of the vehicle, a control process of controlling the vehicle so that the measured azimuth is matched with a target azimuth corresponding to a direction of the traveling road, and a correction process of correcting a degree of control by the control process, in order to bring a lateral shift amount of the vehicle with reference to each of the magnetic markers closer to zero, in accordance with the lateral shift amount.