Predicting terrain traversability for a vehicle

Patent metadata

Field	Value
Publication number	US-11193781-B2
Application number	US-201816177376-A
Country	US
Kind code	B2
Filing date	Oct 31, 2018
Priority date	Oct 31, 2017
Publication date	Dec 7, 2021
Grant date	Dec 7, 2021

Abstract

Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.

First claim

What is claimed is:

1. A vehicle control system comprising:
a processor; and
memory coupled to the processor and storing instructions that, when executed by the processor, cause the vehicle control system to perform operations comprising:
determining two or more positions of a vehicle in a field at two or more times, based on location data from a positioning system;
identifying a first three-dimensional terrain map associated with a first position of the two or more positions;
determining an original path for the vehicle based on the first three-dimensional terrain map, and transmitting original control data based on the original path to a steering control system of the vehicle;
determining, based on data from a sensor system on the vehicle and the first three-dimensional terrain map, a level of moisture associated with a section of terrain along the original path, wherein the data from the sensor system includes information about terrain in front of the vehicle, captured by the sensor system, as the vehicle is driven and steered along the original path according to the original control data transmitted to the steering control system;
identifying a second three-dimensional map associated with a second position of the two or more positions and based on the level of moisture associated with the section of terrain, wherein the second three-dimensional map identifies a terrain feature based on the level of moisture associated with the section of terrain; and
identifying a headland of the field using information from the identified second three-dimensional map and the data from the sensor system;
determining a new path for the vehicle to provide full implement coverage of the field with an implement integrated with the vehicle or coupled to the vehicle, wherein the new path is determined based on a characteristic of the identified terrain feature and further based on the identified headland, and transmitting new control data based on the new path to the steering control system.

2. The vehicle control system of claim 1 , wherein determining the level of moisture associated with the section of terrain includes determining whether the section of terrain is traversable by the vehicle without slipping.

3. The vehicle control system of claim 2 , wherein determining whether the section of terrain is traversable by the vehicle includes determining a degree of slippage the vehicle is likely to experience traversing the section of terrain.

4. The vehicle control system of claim 3 , wherein determining whether the section of terrain is traversable by the vehicle further includes a rate of fuel consumption associated with the degree of slippage.

5. The vehicle control system of claim 1 , wherein the operations further comprise causing the vehicle control system to measure slippage of the vehicle while traversing the section of terrain.

6. The vehicle control system of claim 1 , wherein determining the new path for the vehicle to provide the full implement coverage includes:
identifying a first expected weight associated with the vehicle at a first location of the vehicle;
identifying a second expected weight associated with the vehicle at a second location of the vehicle, the second expected weight being different than the first weight; and
determining the new path for the vehicle to traverse the section of terrain when the vehicle is associated with the second expected weight.

7. The vehicle control system of claim 6 , wherein the second expected weight is less than the first weight.

8. The vehicle control system of claim 7 , wherein the second expected weight is less than the first weight due to consumption or distribution of a material carried by the vehicle or the implement along the original path.

9. The vehicle control system of claim 6 , wherein the second expected weight is greater than the first weight, and wherein the second expected weight is greater than the first weight due to addition of a material carried by the vehicle or the implement along the original path.

10. The vehicle control system of claim 1 , wherein the operations further comprise adjusting a feature of the vehicle prior to traversing the section of the terrain.

11. The vehicle control system of claim 10 , wherein adjusting the feature of the vehicle includes inflating or deflating a tire coupled to the vehicle.

12. The vehicle control system of claim 1 , wherein determining the new path for the vehicle to provide the full implement coverage includes avoiding the section of terrain.

13. The vehicle control system of claim 1 , wherein the sensor system includes an imaging device, and wherein determining the level of moisture associated with the section of terrain includes:
capturing a first image of at least a portion of the section of the terrain at a first resolution using the imaging device;
capturing a second image of at least a portion of the section of the terrain at a second resolution using the imaging device;
capturing a third image of at least a portion of the section of the terrain at a third resolution using the imaging device, wherein the first resolution is greater than the second resolution, and the second resolution is greater than the third resolution; and
geo-referencing the first, second, and third images based on data from the positioning system and the first three-dimensional terrain map.

14. The vehicle control system of claim 1 , wherein determining the level of moisture associated with the section of terrain includes identifying a depression in the section of terrain based on the first three-dimensional terrain map.

15. The vehicle control system of claim 1 , wherein determining the level of moisture associated with the section of terrain includes analyzing weather data indicating an actual or forecast level of precipitation associated with the section of terrain.

16. The vehicle control system of claim 1 , wherein the sensor system includes an image capturing device, and wherein determining the level of moisture associated with the section of terrain includes performing an image recognition process on an image of the section of terrain captured by the image capturing device.

17. The vehicle control system of claim 1 , further comprising a display coupled to the processor, wherein the operations further comprise displaying a two-dimensional representation of the second three-dimensional map, and a visual representation of the new path in conjunction with the second three-dimensional map, on the display.

18. The vehicle control system of claim 1 , wherein the data about the terrain in front of the vehicle, captured by the sensor system on the vehicle as the vehicle is driven and steered along the original path according to the original control data transmitted to the steering control system, comprises an image of the section of terrain.

19. A tangible, non-transitory computer-readable medium storing instructions that, when executed by a vehicle control system, cause the vehicle control system to perform operations comprising:
determining two or more positions of a vehicle in a section of terrain at two or more times, based on location data from a positioning system;
identifying a first three-dimensional terrain map associated with a first position of the vehicle;
determining an original path for the vehicle based on the first three-dimensional terrain map, and transmitting original control data based on the original path to a steering control system of the vehicle;
determining, based on data about terrain in front of the vehicle, captured b

Assignees

• Agjunction Llc

Inventors

• Madsen Tommy Ertbolle
• Dang Tri M
• Gattis Joshua M
• Ramm Andreas F
• Medagoda Eran D B
• Dumble Steven J
• Arain Bilal

Classifications

• B60K35/22

  Display screens · CPC title

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/245

  using dead reckoning · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title