Autonomous Work Vehicle Control for Object Impact-Based Avoidance
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Solution Overview
Problem
Existing technologies face challenges in efficiently controlling work vehicles, such as tractors, to perform self-driving tasks while attached to implements, particularly in determining the appropriate actions when encountering objects based on their influence degrees on the vehicle and implement.
Innovation Solution
The implementation of a work vehicle system equipped with sensors to detect and classify objects, a controller to determine influence degrees, and the ability to execute operations such as avoiding contact or continuing self-driving based on these assessments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the work vehicle executes avoidance operations for all detected objects, then safety is improved, but productivity deteriorates due to unnecessary stops
Solution Approach 1:
The system applies different quality levels of response to different objects based on their classification and influence degree. Critical objects triggering avoidance operations, while less critical objects allow continued operation. This localized differentiation resolves the contradiction by applying safety measures only where necessary.
Solution Approach 2:
The system changes the parameter of operational response based on the classified object type and calculated influence degree. By dynamically adjusting the response parameter (avoidance vs. continuation) according to object characteristics, the system maintains safety for critical objects while preserving productivity for non-critical scenarios.
2Device complexity
If the work vehicle uses simple object detection without classification, then device complexity is reduced, but measurement precision deteriorates regarding object impact assessment
Solution Approach 1:
The object detection system is segmented into multiple processing stages: detection, classification by type, and influence degree calculation. This segmentation allows the system to achieve high measurement precision through systematic analysis while managing complexity through modular processing steps.
Solution Approach 2:
The system performs preliminary classification of objects by type before calculating influence degree. This preliminary action organizes the assessment process, enabling accurate impact evaluation by first categorizing objects according to their inherent characteristics and potential hazard levels.
3Device complexity
If the work vehicle considers only vehicle contact influence, then calculation complexity is reduced, but reliability deteriorates regarding implement safety
Solution Approach 1:
The influence degree calculation system is designed with multi-functionality to assess both vehicle contact influence and implement contact influence. This universal approach ensures comprehensive protection for both the work vehicle and attached implements, maintaining high reliability while managing complexity through integrated calculation.
Data Source
AI summary
A work vehicle includes a sensor to sense an area of the work vehicle and output sensor data, a controller to control self-driving of the work vehicle based on the sensor data, and a link to attach an implement to the work vehicle. When the work vehicle performs the self-driving with the implement linked to the work vehicle, the controller is configured or programmed to detect and classify an object based on the sensor data, determine a first influence degree indicating a magnitude of influence when the object contacts the work vehicle and a second influence degree indicating a magnitude of influence when the object contacts the implement in accordance with a result of the classification of the object, and execute in accordance with at least one of the first and second influence degrees at least one of avoiding contact with the object or continuing the self-driving without executing avoiding.