Autonomous Vehicle Stopping via Ground Protrusion Detection
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Solution Overview
Problem
Autonomous vehicles face challenges in achieving high precision stopping, particularly when unloading goods at precise locations, due to limitations in existing localization systems.
Innovation Solution
A method that detects the vehicle's engagement with a protrusion or recess in the ground surface, using sensors to initiate a stop, thereby enhancing precision by monitoring engine torque, tire pressure, or distance changes, and activating brakes or power transfer to achieve precise stopping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If localization systems (satellite navigation, radar, LIDAR, cameras) are used for vehicle stopping, then the vehicle can navigate and detect objects, but the stopping precision is insufficient for high precision requirements at working sites
Solution Approach 1:
The patent introduces an intermediary physical feature (protrusion or recess in the ground surface) that serves as a precise stopping reference. This intermediary element bridges the gap between the vehicle's localization system and the ground, providing a tactile and sensor-based reference point that enhances stopping precision beyond what satellite navigation and object detection alone can achieve.
Solution Approach 2:
The patent replaces reliance on complex sensor-based localization systems (satellite navigation, radar, LIDAR, cameras) with a simpler mechanical reference system based on ground surface protrusions or recesses. The vehicle's ground engaging members physically interact with these features to achieve precise stopping, substituting mechanical reference for electronic localization.
2Productivity
If the vehicle travels at higher speeds for productivity, then output increases, but stopping precision decreases
Solution Approach 1:
The patent implements a dynamic speed adjustment strategy where the vehicle operates at higher speeds during transit to maintain productivity, then automatically reduces speed to a predetermined low value (e.g., 5 km/h or less) when approaching the stopping location. This dynamic speed management allows the vehicle to achieve high stopping precision without permanently sacrificing overall productivity.
Solution Approach 2:
The system performs preliminary speed reduction before the vehicle reaches the precise stopping location. By lowering the speed in advance when the vehicle enters a predefined zone or approaches the stopping point, the system ensures that the vehicle is moving slowly enough to achieve high precision stopping while maintaining higher speeds during the majority of the travel distance.
3Measurement precision
If ground engaging members engage with protrusions or recesses for precise stopping, then stopping precision improves, but the system becomes more complex
Solution Approach 1:
The patent employs the vehicle's existing ground engaging members (wheels, tracks, or other contact elements) to perform the dual function of vehicle propulsion and precise location detection. These members naturally engage with the ground surface protrusions or recesses during normal operation, eliminating the need for separate detection sensors or additional mechanical components. The system uses the vehicle's own structure to achieve precise stopping.
Solution Approach 2:
The ground engaging members are designed to serve multiple functions: they provide propulsion during vehicle movement and simultaneously serve as detection elements for precise stopping by engaging with ground surface features. This multi-functionality reduces system complexity by eliminating dedicated stopping detection mechanisms while achieving high precision stopping.
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 reliable and precise vehicle stopping at low speeds, improving accuracy and reducing unwanted stops by utilizing ground surface features for precise location detection.
Implementation Method 1
The vehicle further comprises an engine torque sensor (5) connected to the control unit (10). The sensor (5) is configured to detect changes in engine torque, wherein the changes in engine torque are indicative of the vehicle having reached the stopping location.
Implementation Method 2
The vehicle further comprises a distance measurement sensor (4) provided on a lower surface (8) of the vehicle, facing a ground surface (2) below the vehicle. The sensor (4) is configured to monitor a distance (d) between a fixed point of the vehicle and the ground surface (2).
Implementation Method 3
The control unit (10) is configured to initiate a stop of the vehicle in response to the detected changes.
Data Source
AI summary
A computer-implemented method for stopping an autonomous vehicle at a stopping location defined by a protrusion or a recess formed with respect to a ground surface on which the vehicle is travelling is provided. The method includes detecting that at least a portion of the vehicle is located above the protrusion or recess, in response to said detection, initiating a stop of the vehicle. Detecting that at least a portion of the vehicle is located above the protrusion or recess may include detecting an increase in engine torque or power, and/or detecting a difference in vehicle-to-ground distance.