Autonomous Vehicle Track Offsetting for Rut and Collision Control
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Solution Overview
Problem
Existing autonomous travel systems face challenges in suppressing rut generation on transportation paths, especially when multiple unmanned vehicles travel in opposite directions, which increases the risk of collision and reduces transportation efficiency.
Innovation Solution
An autonomous travel system that uses a plurality of vehicles equipped with travel drive devices, position sensors, storage devices, and wireless communication devices. These vehicles receive common offset information to displace their target tracks, thereby suppressing rut generation and maintaining a safe distance from on-coming vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-generated harmful factors
If multiple unmanned vehicles displace their travel tracks to suppress rut generation, then rut generation is reduced, but collision risk increases when vehicles travel in opposite directions
Solution Approach 1:
The system performs preliminary actions by having vehicles exchange offset information before travel and pre-calculate target tracks that incorporate both rut suppression and collision avoidance. The offset information is shared in advance, allowing each vehicle to plan its path knowing the positions of other vehicles, thus preventing both rut generation and collisions before they occur.
Solution Approach 2:
The system implements feedback mechanisms where vehicles continuously exchange position and offset information through wireless communication. Each vehicle receives offset information from others, adjusts its target track accordingly, and transmits its own offset information to the group, creating a closed-loop system that dynamically prevents both rut generation and collisions.
2Object-generated harmful factors
If individual travel instructions are given to each vehicle to suppress ruts, then rut generation is reduced, but computation load increases
Solution Approach 1:
The system merges the computation of target tracks by having each vehicle calculate its path based on common offset information received from all vehicles. Instead of a central system computing individual paths for each vehicle, the computation is combined into a standardized process that each vehicle performs independently using shared data, reducing overall computational complexity while still achieving rut suppression.
Solution Approach 2:
The system changes the parameter approach by using common offset information as a shared parameter that all vehicles utilize. Rather than computing complex individualized paths for each vehicle, the system transforms the problem into adjusting travel paths by a common offset value that suppresses ruts while maintaining simplicity in computation and control.
Data Source
AI summary
Provided is an autonomous travel system capable of effectively suppressing generation of ruts. It is a further object to provide an autonomous travel system including unmanned vehicles that travel on a transportation path constituted of opposite lanes, which is capable of suppressing generation of ruts while preventing proximity to an on-corning vehicle. An in-vehicle control device 200 includes: an offset amount determination unit 202 adapted to, based on common offset information received via a wireless communication device 240, determine an offset amount of a travel path 60 based on map information 251 and generate a target track 62; and an autonomous travel control unit 201 adapted to output a travel instruction to control traveling of a body so as to track the target track 62 to which the offset amount has been added based on the target track 62 and an own-vehicle position.