Work Vehicle Path Selection With Manual-Autonomous Steering Switch
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Solution Overview
Problem
Work vehicles lack an efficient method for selecting and navigating paths autonomously while allowing for operator intervention, especially when dynamic environmental conditions and item-of-interest identification are involved.
Innovation Solution
A method that uses sensors to identify items of interest and determine paths based on vehicle position, heading, and velocity, allowing for both manual and autonomous control through a user interface and special steer commands, enabling the vehicle to autonomously follow suggested paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If autonomous path following control is implemented, then navigation efficiency and precision are improved, but operator control flexibility and intervention capability deteriorate
Solution Approach 1:
The control system dynamically switches between autonomous path following mode and manual control mode based on operator input. The autonomous mode provides precise path following when activated, while the manual mode restores full operator control flexibility. This dynamic switching resolves the contradiction by allowing both high precision and flexibility to coexist at different operational states.
Solution Approach 2:
The system continuously monitors operator inputs and system state to determine when to switch between autonomous and manual control. The feedback mechanism detects when the operator attempts to override autonomous control, triggering a mode switch that preserves both the precision benefits of autonomous control and the flexibility of manual intervention when needed.
2Ease of operation
If manual control mode is used, then operator control flexibility is maintained, but navigation efficiency and path following precision deteriorate
Solution Approach 1:
The system allows dynamic switching between manual and autonomous modes, enabling operators to use manual control when flexibility is needed while switching to autonomous mode for efficient path following. This resolves the contradiction by allowing operators to optimize for productivity when using autonomous control without permanently sacrificing control flexibility.
3Extent of automation
If autonomous control system is added, then path determination and navigation capability are improved, but system complexity increases
Solution Approach 1:
The autonomous control system is integrated into the existing work vehicle control architecture, allowing the same control system to perform both traditional manual control functions and autonomous path following functions. This multi-functionality approach reduces overall system complexity compared to having separate independent systems for each mode.
Solution Approach 2:
A control switch serves as an intermediary element that manages the transition between manual and autonomous modes. This simple intermediary component coordinates the complex interaction between different control modes without requiring complex communication protocols or additional sophisticated hardware, thereby limiting the increase in system complexity.
4Ease of operation
If special steer command response is implemented, then transition between manual and autonomous control is improved, but control system complexity increases
Solution Approach 1:
The mode switching logic is extracted as a distinct, dedicated function triggered by a special steer command. Rather than embedding complex mode transition logic throughout the entire control system, the patent isolates the mode switching functionality to a specific response to a designated input command, simplifying the overall control logic architecture.
Data Source
AI summary
In accordance with an example embodiment, a method of controlling a work vehicle includes sensing a surrounding environment of a work vehicle with a sensor, identifying an item of interest, determining a path toward or away from the item using the work vehicle's position, heading, and velocity, displaying the path, receiving a special steer command, steering the work vehicle based on the special steer command if the special steer command is received when no path is being displayed on the operator display, and autonomously controlling the work vehicle to travel along the path based on the special steer command if the special steer command is received while the path is being displayed on the operator display.