Work Vehicle Travel Control Using Operation-Tool Switch Thresholds
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Solution Overview
Problem
Conventional travel control systems for work vehicles switch from autonomous to manual travel based on steering device states, leading to unintended manual travel during autonomous operations when the steering direction changes unintentionally.
Innovation Solution
A travel control method and system that switches from autonomous to manual travel based on a user operation's change amount exceeding a threshold, with the threshold set according to the work vehicle's settings and information, allowing for controlled transitions between autonomous and manual steering modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If switching from autonomous travel to manual travel is triggered by detecting a steering state change of the steering device, then the work vehicle can respond to operator input, but unintended manual travel may occur when the steering direction changes unintentionally
Solution Approach 1:
The patent changes the parameter used for detecting operator input from simple steering angle detection to detection based on operation amount of the operation tool (e.g., accelerator pedal depression amount, brake pedal depression amount). This parameter change allows the system to distinguish between intentional operator actions and unintentional steering variations, thereby improving the reliability of mode switching while maintaining responsiveness to genuine operator input.
2Speed
If the threshold for switching is set low to detect small steering changes, then operator input is detected quickly, but false triggering increases during autonomous travel
Solution Approach 1:
The patent changes the detection parameter from steering angle to operation amount of the operation tool, and introduces a threshold value for this operation amount. By setting an appropriate threshold for the operation amount (e.g., minimum accelerator depression amount), the system achieves both fast response to genuine operator input and suppression of false triggering during autonomous travel, thus resolving the contradiction between switching speed and reliability.
3Reliability
If the threshold for switching is set high to prevent false triggering, then reliability improves, but response time to legitimate operator input increases
Solution Approach 1:
The patent uses operation amount of the operation tool as the detection parameter with a threshold value. This approach allows the threshold to be set at an appropriate level that filters out false triggers while maintaining quick response to legitimate operator actions. The operation amount parameter naturally provides a good signal-to-noise ratio, enabling fast response without excessive delay.
4Productivity
If autonomous travel is used to improve productivity, then work efficiency increases, but the risk of unintended manual travel increases
Solution Approach 1:
The patent changes the detection parameter from steering angle to operation amount of the operation tool during autonomous travel. This parameter change significantly reduces the risk of unintended mode switching while maintaining the ability to detect genuine operator input. The operation amount parameter is less susceptible to noise and unintentional variations, thereby improving reliability and reducing unintended mode switching during autonomous travel operations.
Solution Approach 2:
The patent implements a feedback mechanism where the system continuously monitors the operation amount of the operation tool and compares it against the threshold value. This feedback loop allows the system to distinguish between normal autonomous travel variations and genuine operator intentions, providing reliable mode switching feedback that maintains productivity while preventing unintended manual travel activation.
Data Source
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AI summary
[Problem] To provide a travel control method, a travel control system, and a travel control program that are capable of appropriately switching from autonomous travel to manual travel. [Solution] A reception processing unit 112 receives a user operation performed with respect to an operation tool that causes a work vehicle 10 to execute a predetermined motion. A motion processing unit 114 causes the work vehicle 10 to execute a motion corresponding to the user operation performed with respect to the operation tool. A travel processing unit 111 switches from autonomous travel to manual travel when a change amount relating to the operation tool corresponding to the user operation exceeds a threshold while the work vehicle 10 is performing autonomous travel. A setting processing unit 116 sets the threshold based on at least one of setting information and work information of the work vehicle 10.