Work Vehicle Start Route Selection Using Position and Orientation
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Solution Overview
Problem
Existing travel route determination systems for autonomous work vehicles require a pre-set start route, leading to inefficiencies when the vehicle is far away and lack flexibility in selecting the start route, limiting the ability to initiate autonomous travel from any work route.
Innovation Solution
A system that includes a route generating unit, control unit, information obtaining unit, and determination unit to set a candidate determination region based on the vehicle's position and orientation, allowing flexible selection of a start route from among multiple work routes, while excluding unsuitable routes and determining candidate routes using angle criteria.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a start route is preliminarily set among multiple work routes, then the autonomous travel system has a defined starting point, but the work vehicle needs to move to the start end when the current position is far away, resulting in long time until autonomous travel starts
Solution Approach 1:
The system dynamically determines the start route based on the work vehicle's current position and orientation, rather than using a fixed pre-set start route. The determination unit sets a candidate determination region based on real-time vehicle state and selects an appropriate work route as the start route, allowing the system to adapt to different vehicle positions and reduce waiting time.
2Extent of automation
If autonomous travel can only start at a preliminarily set start route, then the system has a clear starting protocol, but the system lacks flexibility in selection of the start route and cannot respond to demands to start at other work routes
Solution Approach 1:
The system enables autonomous travel to start from any work route within the candidate determination region, not just a single pre-designated start route. The determination unit evaluates multiple work routes and selects appropriate ones based on current vehicle position and orientation, making the system universally applicable to different starting conditions and locations within the work region.
3Productivity
If the work vehicle is far away from the start route, then the vehicle must be moved to the start end, but this results in inefficiency and time loss
Solution Approach 1:
The system performs preliminary determination of the start route based on the work vehicle's current position and orientation before autonomous travel begins. By setting the candidate determination region in advance and pre-selecting an appropriate start route from available work routes, the system eliminates the need for the vehicle to travel to a distant pre-set start point, thereby reducing time loss and improving productivity.
Data Source
AI summary
A travel route determination system including: a route generating unit generating planned travel routes including work routes along which a work vehicle performs autonomous travel; a control unit capable of causing the work vehicle to perform autonomous travel along the planned travel routes; an information obtaining unit obtaining position information and orientation information on the work vehicle; and a determination unit determining an autonomous travel candidate route at which the work vehicle can start autonomous travel, before the work vehicle starts autonomous travel. The determination unit sets a candidate determination region based on the position information and orientation information on the work vehicle, and the determination unit determines, among the work routes, a work route in the candidate determination region as the autonomous travel candidate route.