System and method for controlling a vehicle

Patent metadata

Field	Value
Publication number	US-11052943-B2
Application number	US-201816184824-A
Country	US
Kind code	B2
Filing date	Nov 8, 2018
Priority date	Apr 13, 2016
Publication date	Jul 6, 2021
Grant date	Jul 6, 2021

Abstract

A control system is configured to receive a first signal indicative of a current position of a vehicle and a second signal indicative of a desired path for the vehicle. The control system is configured to calculate a virtual path between the current position and a target position on the desired path and to output a third signal indicative of curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the vehicle to adjust a steering angle of the vehicle. The control is also configured to iteratively receive an updated current position, receive any updates to the desired path, calculate an updated target position, calculate an updated virtual path based on the updated current position and updated desired path, and output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the vehicle travels across a surface.

First claim

The invention claimed is:

1. An agricultural vehicle guidance system, comprising:
a control system comprising a processor configured to receive a first signal indicative of a current position and a current heading of an agricultural vehicle, and a second signal indicative of a target path of the agricultural vehicle, wherein the processor is configured to determine a virtual path extending from the current position to a target position on the target path, wherein an initial heading of the virtual path extends along the current heading, and a terminal heading of the virtual path extends tangentially to the target path at the target position;
wherein the processor is configured to output a third signal indicative of a curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the agricultural vehicle to adjust a steering angle of the agricultural vehicle;
wherein the processor is subsequently configured to iteratively receive an updated current position and an updated current heading of the agricultural vehicle during travel of the vehicle towards the target path, determine an updated target position on the target path, determine an updated virtual path that extends from the updated current position to the updated target position, wherein an updated initial heading of the updated virtual path extends along the updated current heading, and an updated terminal heading of the updated virtual path extends tangentially to the target path at the updated target position; and
wherein the processor is configured to output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the agricultural vehicle travels toward the target path;
wherein a driven travel path of the agricultural vehicle to the target path is based on the initial curvature of the virtual path and the initial curvature of the updated virtual path, wherein the travel plan is formed by a plurality of the iteratively updated initial curvatures.

2. The system of claim 1 , wherein the virtual path comprises one or more clothoid segments, wherein the one or more clothoid segments are constrained based on a minimum turning radius of the agricultural vehicle, a maximum turning rate of the agricultural vehicle, or both.

3. The system of claim 1 , wherein the virtual path commences from the current position of the agricultural vehicle and terminates at the target position on the target path.

4. The system of claim 1 , wherein the processor is configured to receive a fourth signal indicative of an updated target path of the agricultural vehicle.

5. The system of claim 1 , wherein the processor is configured to receive the first signal indicative of the current position and the current heading of the agricultural vehicle from a spatial locating device coupled to the agricultural vehicle, and the processor is configured to receive the second signal indicative of the target path of the agricultural vehicle from an operator interface.

6. The system of claim 1 , wherein the processor is configured to determine the target position based on the target path, the current position, and a minimum turning radius of the agricultural vehicle, a maximum turning rate of the agricultural vehicle, a current speed of the agricultural vehicle, or a combination thereof.

7. The system of claim 1 , wherein the processor is configured to iteratively determine additional virtual paths subsequent to determination of the updated virtual path, wherein the additional virtual paths are determined periodically during travel toward the target path.

8. The system of claim 1 , wherein the processor is configured to determine a Dubins path between the current position and the target position upon a determination that a distance between the current position and the target path exceeds a threshold value.

9. The system of claim 8 , wherein the processor is configured to monitor the distance between the current position and the target path, and the processor is configured to iteratively determine virtual clothoid paths between the current position and the target position upon a determination that the distance falls below the threshold value.

10. A non-transitory computer-readable medium having computer executable code stored thereon, the code comprising instructions to:
receive a first signal indicative of a current position and a current heading of an agricultural vehicle;
determine a virtual path between the current position and a target position on a target path of the agricultural vehicle, wherein an initial heading of the virtual path extends along the current heading of the agricultural vehicle, and a terminal heading of the virtual path extends tangentially to the target path at the target position;
output a second signal indicative of a curvature command corresponding to an initial curvature of the virtual path to adjust a steering angle of the agricultural vehicle;
iteratively receive a third signal indicative of updated current positions and updated current headings of the agricultural vehicle;
iteratively determine during travel of the agricultural vehicle toward the target path updated virtual paths from the updated current positions to updated target positions on the target path, wherein the updated virtual paths include updated initial headings respectively extending along the updated current headings, and updated terminal headings extending tangentially to the target path at respective ones of the updated target positions; and
output updated curvature commands corresponding to updated initial curvatures of the iteratively determined updated virtual paths as the agricultural vehicle travels to guide the agricultural vehicle toward the target path;
create a travel path as the agricultural vehicle is driven to the target path based on the initial curvature and the updated initial curvatures resulting of the updated virtual paths, wherein the travel path is distinct from the updated virtual paths.

11. The non-transitory computer-readable medium of claim 10 , wherein the virtual path commences from the current position and terminates at the target position, and the updated virtual paths respectively commence from the updated current positions and respectively terminate at the updated target positions.

12. The non-transitory computer-readable medium of claim 10 , wherein the virtual path comprises at least one clothoid segment.

13. The non-transitory computer-readable medium of claim 10 , wherein the code comprises instructions to determine the target position based on a speed of the agricultural vehicle, an acceleration of the agricultural vehicle, a steering angle of the agricultural vehicle, a turning rate limit of the agricultural vehicle, or a combination thereof.

14. The non-transitory computer-readable medium of claim 10 , wherein the code comprises instructions to:
determine a distance between the current position of the agricultural vehicle and the target path;
determine a Dubins path between the current position and the target position and iteratively determine an intermediate point on the Dubins path upon a determination that the distance exceeds a threshold value;
iteratively determine clothoid paths from the current position to the intermediate point while the distance exceeds the threshold value; and
iteratively determine additional clothoid paths from the current position to the target position upon a determination that the distance falls below the threshold value.

15. A method of controlling an agricultural vehicle, comprising:
using a processor to:
receive a first signal ind

Assignees

• Cnh Ind America Llc
• Autonomous Solutions Inc

Inventors

• Bunderson Nathan Eric
• Petersen John Arthur Mitsuru
• Ray Brian Robert

Classifications

• G01C21/38

  Electronic maps specially adapted for navigation; Updating thereof · CPC title

• B60W30/10

  Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} · CPC title

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• G05D2201/0201

  Physics · mapped topic

• G01C21/00

  Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 (measuring distance traversed on the ground by a vehicle G01C22/00; control of position, course, altitude or attitude of vehicles G05D1/00; traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968) · CPC title