Work Region Corner Setting for Obstacle-Aware Autonomous Vehicles
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Solution Overview
Problem
Conventional work region setting systems for autonomous work vehicles often result in the vehicle contacting obstacles due to corners of the field being set based on travel trajectories, leading to overlap with obstacles such as slopes.
Innovation Solution
A work region setting system that generates a work region by including first complement points at the intersections of adjacent straight lines and allows for the selection of second complement points within the area of these intersections to avoid obstacles, preventing overlap with obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the work region is set based on the travel trajectory with corners at intersection points of adjacent straight lines, then the work region coverage is maximized, but the work vehicle contacts obstacles located at or near the corners
Solution Approach 1:
The patent segments the corner region into multiple candidate points (first complement point at the intersection and second complement points within the area). This segmentation allows the system to divide the corner setting into discrete selectable options, enabling the work region to be adjusted in small increments to avoid obstacles while maintaining maximum coverage.
Solution Approach 2:
The patent makes the corner point dynamic by providing multiple candidate points instead of a fixed intersection point. The operator can select from several second complement points based on obstacle locations, making the work region adaptable and flexible rather than static, thus avoiding obstacles while preserving area.
2Area of stationary object
If the corner is set at the intersection point of adjacent straight lines, then the work region area is maximized, but the corner overlaps with obstacles such as slopes
Solution Approach 1:
The patent performs preliminary action by pre-calculating and providing multiple candidate corner points (second complement points) within the area from the travel trajectory to the first complement point. This allows the operator to select an appropriate point before actual work begins, preventing obstacle overlap in advance while maximizing work region area.
Solution Approach 2:
The patent creates alternative copies of the corner point in the form of second complement points positioned at different locations within the triangular area. These copy points serve as substitutes for the original intersection point, allowing selection of a point that does not overlap with obstacles while maintaining similar geometric properties.
3Adaptability or versatility
If multiple complement points are generated for corner selection, then obstacle avoidance capability is improved, but the system complexity increases
Solution Approach 1:
The patent applies local quality by providing enhanced options (multiple complement points) only at the corner regions where obstacles are most likely to occur, rather than throughout the entire work region. This localized approach improves adaptability for obstacle avoidance while minimizing the increase in system complexity.
Solution Approach 2:
The patent uses partial action by generating multiple candidate points only for the corner regions rather than for the entire work region boundary. This selective application provides sufficient adaptability for obstacle avoidance at critical locations without unnecessarily complicating the overall system.
Data Source
AI summary
A position acquisition unit acquires positional information of a work vehicle. A travel trajectory generation unit generates a travel trajectory of the work vehicle on the basis of the positional information acquired by the position acquisition unit. A complement point generation unit generates, as selection target points, a first complement point which is an intersection point between extended lines of two adjacent straight lines connecting the travel trajectory generated by the travel trajectory generation unit, and a second complement point within a region from the travel trajectory to the first complement point. A work region generation unit generates a work region of the work vehicle on the basis of the selection target point selected by a user.