Work Vehicle Auto Steering Startup Using Stored Orientation
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Solution Overview
Problem
Existing work vehicles with automatic steering capabilities cannot accurately estimate orientation immediately after the key-on operation until the vehicle reaches a speed of at least 0.45 km/h, preventing activation of automatic steering in extremely low speed states.
Innovation Solution
A work vehicle equipped with a positioning system and a controller that estimates orientation based on position changes, stores this orientation in a non-volatile memory during a key-off operation, and initiates automatic steering control using this stored orientation after a key-on operation, allowing steering activation even at extremely low speeds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the vehicle speed is increased to at least 0.45 km/h to enable accurate orientation estimation, then the automatic steering can be activated, but the vehicle cannot remain stationary or operate at extremely low speeds immediately after key-on operation
Solution Approach 1:
The controller stores the orientation value in non-volatile memory at the moment of key-off operation, before the vehicle stops or slows down. This preliminary capture of orientation data allows the system to resume automatic steering immediately after key-on without requiring the vehicle to reach a minimum speed for orientation estimation.
Solution Approach 2:
The system creates a copy of the orientation value and stores it in non-volatile memory. This copied orientation data is then retrieved and used as the initial orientation after key-on operation, eliminating the need to perform real-time orientation estimation at low speeds.
2Ease of operation
If the automatic steering is activated immediately after key-on operation, then the ease of operation is improved, but the orientation data may be inaccurate without sufficient time for positioning system stabilization
Solution Approach 1:
The orientation value is captured and stored in non-volatile memory at the exact moment of key-off operation, ensuring that the most reliable orientation data is preserved before any potential drift or instability occurs. This preliminary action guarantees data reliability while enabling immediate post-key-on activation.
Solution Approach 2:
The system uses its own previously stored orientation data to initialize the automatic steering function after key-on operation, making the system self-sufficient and eliminating the need for external intervention or waiting periods for system stabilization.
3Measurement precision
If the vehicle must reach a predetermined speed before activating automatic steering, then the orientation estimation accuracy is ensured, but the productivity is reduced due to additional operational steps required
Solution Approach 1:
By storing the orientation value in non-volatile memory at key-off operation, the system eliminates the need for post-key-on speed increase procedures. This preliminary capture of orientation data streamlines the activation process and immediately restores productivity without compromising measurement precision.
Solution Approach 2:
The system skips the intermediate step of increasing vehicle speed to a predetermined threshold by directly utilizing the stored orientation value from non-volatile memory, thereby rushing through the activation process and improving operational efficiency.
Data Source
AI summary
A work vehicle capable of automatic steering driving includes a positioning system to perform positioning of the work vehicle, and a controller including a non-volatile memory. The controller is configured or programmed to estimate an orientation of the work vehicle based on a change over time of a position of the work vehicle measured by the positioning system, perform automatic steering control of the work vehicle based on the position and the orientation of the work vehicle and a set target route, store the orientation of the work vehicle in the non-volatile memory in response to a key-off operation of the work vehicle, and after a key-on operation of the work vehicle is performed, initiate the automatic steering control using the orientation stored in the non-volatile memory as an initial orientation of the work vehicle.