Predicting terrain traversability for a vehicle

Patent metadata

Field	Value
Publication number	US-11698264-B2
Application number	US-202117539331-A
Country	US
Kind code	B2
Filing date	Dec 1, 2021
Priority date	Oct 31, 2017
Publication date	Jul 11, 2023
Grant date	Jul 11, 2023

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 terrain mapping system for a vehicle, the terrain mapping system comprising:
wherein the vehicle includes:
a sensor system for collecting three-dimensional terrain data, the sensor system including a rotating lidar system, an array of static laser beams, and/or a stereo camera based on two or more cameras;
a positioning system for determining location data for the vehicle, the positioning system comprising a global navigation satellite system (GNSS) receiver or a local positioning system;

wherein the terrain mapping system includes memory coupled to a processor and storing instructions that, when executed by the processor, cause the terrain mapping system to perform operations comprising:
identifying a ground surface topography for a section of terrain and a topography of vegetation on the section of terrain, wherein the topographies are based on data generated by the sensor system and the positioning system, as the vehicle is driven and steered along a path according to control data transmitted to a steering control system of the vehicle, wherein the path is determined based on a first three-dimensional terrain map;
generating a second three-dimensional terrain map, the second three-dimension terrain map including the ground surface topography for the section of terrain and the topography of vegetation on the section of terrain;
characterized in that the generating the second three-dimensional terrain map includes identifying a plurality of objects within the section of terrain on the second three-dimensional terrain map, wherein a visual indicator is presentable, by the vehicle, on the second three-dimensional terrain map for each respective object representing whether the object is traversable by the vehicle; and
providing the second three-dimensional terrain map to the vehicle or a different vehicle for avoiding non-traversable ones of the objects based on the second three-dimensional map.

2. The terrain mapping system of claim 1 , wherein the topographies are identified based on identifying a height of a portion of the vehicle above the ground surface.

3. The terrain mapping system of claim 1 , wherein the topographies are identified based on measuring, by the sensor system, the terrain surface relative to a sensor mounting pose on the vehicle.

4. The terrain mapping system of claim 1 , wherein the topographies are identified based on determining, by the array of laser beams, the height of crops planted on a section of terrain relative to the surface of the ground.

5. The terrain mapping system of claim 1 , wherein the topographies are identified based on an image captured in an infrared or near-infrared spectrum the operations further comprise adjusting a feature of the vehicle prior to traversing the section of the terrain.

6. The terrain mapping system of claim 5 , wherein the topographies are identified based on identifying, by an accelerometer of the sensor system, a terrain feature by identifying a roughness level of the terrain based on data from the accelerometer as the vehicle passes over the terrain adjusting.

7. The terrain mapping system of claim 1 , wherein the topographies are identified based on identifying, by a gyroscopic sensor the sensor system, a terrain feature by determining one or more of a roll angle for the vehicle, a pitch angle for the vehicle, and a yaw angle for the vehicle.

8. A method comprising:
identifying a ground surface topography for a section of terrain and a topography of vegetation on the section of terrain, wherein the topographies are based on data generated by a sensor system and a positioning system of a vehicle, as the vehicle is driven and steered along an original path according to an original control data transmitted to a steering control system of the vehicle;
wherein the positioning system includes a global navigation satellite system (GNSS) receiver or a local positioning system;
generating a second three-dimensional terrain map, the second three-dimensional terrain map including the ground surface topography for the section of terrain and the topography of vegetation on the section of terrain;
characterized in that the generating the second three-dimensional terrain map includes identifying a plurality of objects within the section of terrain on the three-dimensional terrain map, wherein a visual indicator is presentable, by the vehicle, on the second-three dimensional terrain map for each respective object representing whether the object is traversable by the vehicle; and
providing the second three-dimensional terrain map to the vehicle or a different vehicle for avoiding non-traversable ones of the objects based on the second three-dimensional map.

9. The method of claim 8 , further comprising identifying a height of a portion of the vehicle above the ground surface, wherein the topographies are identified based on the identified height.

10. The method of claim 9 , further comprising measuring, by the sensor system, the terrain surface relative to a sensor mounting pose on the vehicle, wherein the topographies are identified based on the measurement.

11. The method of claim 8 , further comprising determining, by an array of laser beams of the sensor system, the height of crops planted on a section of terrain relative to the surface of the ground, wherein the topographies are identified based on the determined height.

12. The method of claim 8 , further comprising capturing an image in an infrared or near-infrared spectrum, wherein the topographies are identified based on the captured image.

13. The method of claim 8 , further comprising identifying, by an accelerometer of the sensor system, a terrain feature by determining a roughness level of the terrain based on data from the accelerometer as the vehicle passes over the terrain, wherein the topographies are identified based on the terrain feature determined by the roughness level.

14. The method of claim 8 , further comprising identifying, by a gyroscopic sensor the sensor system, a terrain feature by determining one or more of a roll angle for the vehicle, a pitch angle for the vehicle, and a yaw angle for the vehicle, wherein the topographies are identified based on the terrain feature determined by the one or more of the roll angle, pitch angle, and yaw angle.

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

• B60W2552/00

  Input parameters relating to infrastructure · CPC title

• G01C21/30

  Map- or contour-matching · CPC title

• G06T17/05

  Geographic models · CPC title

• G05D2201/0201

  Physics · mapped topic

• B60W2710/20

  Steering systems · CPC title