Yard Tractor Position Guidance Using V2X and Laser Error Correction
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Solution Overview
Problem
Existing technologies lack the capability to accurately guide an autonomous yard tractor to a correct position using V2X communication, particularly in calculating both longitudinal reference distance errors and rotation angle errors.
Innovation Solution
A work position guide apparatus that includes a reference position determination unit, a real-time position detection unit, an error data acquisition unit, and a guide command generation unit, which uses V2X communication to guide the autonomous yard tractor to the correct position by determining reference positions based on crane positions and detecting real-time positions using laser scanners.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If autonomous driving technology is applied to the yard tractor to operate in an unmanned manner, then the productivity and automation level are improved, but the capability to accurately guide the tractor to the correct position through V2X communication is insufficient
Solution Approach 1:
The patent introduces an intermediary guide apparatus that mediates between the autonomous yard tractor and the crane. This guide apparatus includes a guide device with display units that provide visual guidance information to the tractor, enabling accurate position guidance through V2X communication infrastructure. The intermediary system bridges the gap by translating crane position data into actionable guidance commands for the autonomous tractor.
Solution Approach 2:
The patent implements a feedback mechanism where the guide apparatus continuously monitors the yard tractor's position and provides real-time guidance commands. The system calculates guidance information based on the difference between the tractor's current position and the target position, adjusting guidance dynamically until the tractor reaches the correct location. This closed-loop feedback enables precise positioning despite the complexity of autonomous operation.
2Device complexity
If only longitudinal reference distance error is calculated, then the guidance system is simple, but the positioning accuracy is insufficient for precise work position alignment
Solution Approach 1:
The patent transitions from one-dimensional longitudinal error calculation to three-dimensional error calculation by incorporating transverse (lateral) distance error and rotation angle error. The guide device computes errors in multiple dimensions (longitudinal distance, transverse distance, and angular orientation) to provide comprehensive guidance for precise positioning. This multi-dimensional approach ensures the tractor aligns correctly with the crane in all spatial dimensions, not just along the driving path.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus effectively guides the autonomous yard tractor to the correct position by calculating and correcting for errors in longitudinal, transverse, and rotational positions, ensuring precise alignment with V2X communication.
Implementation Method 1
the real-time position detection unit may include laser scanners provided in an external quay crane and a yard crane
Data Source
AI summary
A work position guide apparatus for guiding an autonomous yard tractor to a work position, includes a reference position determination unit that determines a reference position based on a position of a crane located at a work position, a real-time position detection unit that detects a real-time position of the autonomous yard tractor, an error data acquisition unit that acquires error data between the reference position and the real-time position, and a guide command generation unit that generates a guide command for guiding the autonomous yard tractor to the work position based on the error data.