Autonomous Vehicle Control Parameter Adjustment for Route Accuracy
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Autonomous traveling vehicles equipped with opposed two-wheel differential type traveling units face challenges in faithfully reproducing taught routes due to optimal control parameter differences between straight and directional travel, leading to deviations during directional changes.
Innovation Solution
The vehicle includes a platform, a traveling unit, a teaching unit, a curvature calculation unit, and a control parameter adjustment unit, which acquires and stores subgoal points, calculates key curvature radii, and adjusts control parameters based on these radii to optimize wheel rotation speeds for faithful route reproduction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single control parameter value is used for both straight and directional travel, then the device complexity is reduced, but the manufacturing precision of route reproduction deteriorates due to inability to adapt to different travel conditions
Solution Approach 1:
The control parameter value is made dynamic by automatically adjusting it based on the detected travel direction. The system switches between a first control parameter value for straight travel and a second control parameter value for directional travel, allowing the parameter to adapt to different operational conditions rather than remaining static
Solution Approach 2:
The invention changes the control parameter value according to the travel direction. When the travel direction changes from straight to directional, the control parameter value is automatically adjusted from the first value to the second value, optimizing the route reproduction accuracy for each travel mode
2Productivity
If the control parameter is optimized for straight travel, then the productivity of straight movement is improved, but the reliability of directional travel deteriorates causing route deviation
Solution Approach 1:
The system uses different control parameter values optimized for different travel modes. The first control parameter value is optimized for straight travel while the second control parameter value is optimized for directional travel, ensuring both straight travel efficiency and directional travel accuracy
3Reliability
If the control parameter is optimized for directional travel, then the reliability of turning movement is improved, but the productivity of straight travel deteriorates
Solution Approach 1:
The control parameter value dynamically switches between two optimized values based on the detected travel direction. When traveling straight, the first control parameter value (optimized for straight travel) is used, and when turning, the second control parameter value (optimized for directional travel) is used, ensuring optimal performance for each travel mode
Data Source
Figure 1
Figure 2
Figure 3
AI summary
An autonomous traveling vehicle is controlled to faithfully reproduce a planned traveling route and to autonomously travel. The autonomous traveling vehicle (100) includes a platform portion (1), a traveling unit (2), a teaching unit (71), a curvature calculation unit (74), and a control parameter adjustment unit (757). The traveling unit (2) is mounted on the platform portion (1) and controls the platform portion (1) to travel. In a teaching travel mode, the teaching unit (71) acquires subgoal points (Pk). The teaching unit (71) stores planned traveling route data (500a) as an aggregate of the subgoal points (Pk). The curvature calculation unit (74) calculates and stores a key curvature radius (R). In a reproduction travel mode, the control parameter adjustment unit (757) adjusts a control parameter (Kp) for determining an direction angle feedback control amount of the traveling unit (2) on the basis of the key curvature radius (R) calculated by the curvature calculation unit (74).