Automatic Vehicle Turning Control Around Prohibition Boundary Lines
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Solution Overview
Problem
Existing automatic steering systems for vehicles are unable to smoothly transition from a previous travel route to a subsequent route if a prohibition boundary line, such as a ridge or pale, intersects with the transition route, leading to disabled automatic travel.
Innovation Solution
An automatic travel system that includes a prohibition boundary line setter, a turning circle setter, a tangent calculator, a tangent following travel controller, an interference boundary line detector, and an interference avoidance travel controller, which allows the vehicle to avoid interference with prohibition boundary lines by calculating an interference avoidance route and controlling the vehicle to follow this route.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle follows the tangent to the virtual turning circle as the target route during transition travel, then smooth entry into the subsequent travel route is achieved, but the vehicle will interfere with prohibition boundary lines (ridges or pales) present in the transition route
Solution Approach 1:
The interference boundary line detector proactively identifies prohibition boundary lines in the moving direction during tangent following travel before the vehicle actually encounters them. This preliminary detection allows the system to switch to interference avoidance travel mode in advance, preventing interference with the boundary line while maintaining smooth transition to the subsequent route.
Solution Approach 2:
The system dynamically switches between two travel modes: tangent following travel for normal smooth transitions, and interference avoidance travel when prohibition boundary lines are detected. This dynamic adaptation allows the vehicle to maintain ease of operation through smooth transitions while avoiding harmful interference with boundary lines by adjusting the travel path based on real-time boundary line detection.
2Adaptability or versatility
If the vehicle performs turning travel to enter the subsequent travel route, then the vehicle can change direction, but automatic travel is disabled when prohibition boundary lines are present in the transition route
Solution Approach 1:
The system performs preliminary detection of prohibition boundary lines using the interference boundary line detector before executing turning travel. This advance detection allows the system to plan an appropriate travel path that avoids boundary lines, ensuring automatic travel can continue without being disabled while still achieving the necessary direction change to enter the subsequent route.
Solution Approach 2:
The system dynamically adjusts the turning travel path based on detected prohibition boundary lines. When boundary lines are present, the system switches to interference avoidance travel mode that modifies the turning path to bypass the boundary lines. This dynamic path adjustment maintains both the route changing capability and the continuity of automatic travel, preventing system disablement.
3Device complexity
If the vehicle uses the tangent to the virtual turning circle as the target route, then the transition travel is straightforward, but the vehicle cannot avoid interference with protruding prohibition boundary lines
Solution Approach 1:
The interference boundary line detector performs preliminary identification of prohibition boundary lines in the moving direction during tangent following travel. This preliminary action allows the system to maintain the simple tangent-based control approach while detecting potential interference issues in advance, enabling a smooth switch to avoidance mode only when necessary.
Solution Approach 2:
The system maintains simple tangent following control as the default mode for straightforward transitions, but dynamically switches to interference avoidance travel when prohibition boundary lines are detected. This dynamic approach preserves control simplicity for normal operations while adding boundary line avoidance capability only when needed, balancing simplicity with safety.
Data Source
AI summary
An automatic travel system includes a prohibition boundary line setter to set a prohibition boundary line beyond which the vehicle is prohibited from entering, a turning circle setter to set a virtual turning circle as a target route for entry turning travel to enter a subsequent travel route, a transition turning travel controller to control tangent following travel using a vehicle body reference point that is calculated during travel to the virtual turning circle as a target orientation, and the entry turning travel using the virtual turning circle as a turning target route, an interference boundary line detector to detect the prohibition boundary line that is present in a moving direction of the vehicle in the tangent following travel, as an interference boundary line, and an interference avoidance travel controller to control travel for avoiding interference with the interference boundary line.