System and method for generating and implementing an end-of-row turn path

Patent metadata

Field	Value
Publication number	US-9968025-B2
Application number	US-201715648672-A
Country	US
Kind code	B2
Filing date	Jul 13, 2017
Priority date	Jan 14, 2016
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

A method includes generating a non-continuous curvature end-of-row turn path for an agricultural vehicle, wherein the non-continuous curvature end-of-row turn path includes a plurality of initial segments that are curved or straight, adding at least one continuity segment between each of the plurality of initial segments, wherein the at least one continuity segment includes a clothoid segment, and the initial segments and the at least one continuity segment combine to form a continuous curvature end-of-row turn path, determining, via an iterative process, a maximum drivable speed based on a minimum speed and a target speed, and implementing the continuous end-of-row turn path at the maximum drivable speed.

First claim

The invention claimed is:

1. A method, comprising:
generating a non-continuous curvature end-of-row turn path for an agricultural vehicle, wherein the non-continuous curvature end-of-row turn path comprises a plurality of initial segments that are curved or straight;
adding at least one continuity segment between each of the plurality of initial segments, wherein the at least one continuity segment comprises a clothoid segment, and the initial segments and the at least one continuity segment combine to form a continuous curvature end-of-row turn path;
determining, via an iterative process, a maximum drivable speed based on a minimum speed and a target speed; and
implementing the continuous end-of-row turn path at the maximum drivable speed.

2. The method of claim 1 , wherein the iterative process comprises a bisection method algorithm.

3. The method of claim 1 , wherein the iterative process comprises:
increasing the set speed by a first increment;
determining whether the continuous curvature end-of-row turn path is drivable at the increased set speed;
increasing the set speed by a second increment in response to determining that the continuous curvature end-of-row turn path is drivable at the increased set speed; and
decreasing the set speed by a third increment in response to determining that the continuous curvature end-of-row turn path is not drivable at the increased set speed.

4. The method of claim 1 , comprising:
determining whether the continuous curvature end-of-row turn path is drivable at the minimum speed; and
generating a contingency continuous curvature end-of-row turn path that crosses one or more boundaries in response to determining that the continuous curvature end-of-row turn path is not drivable at the minimum speed.

5. The method of claim 1 , comprising adjusting one or more parameters of the initial segments and the at least one continuity segment such that the end-of-row turn path is C2 continuous.

6. The method of claim 1 , wherein the at least one continuity segment does not exceed at least one turning capability of the agricultural vehicle.

7. The method of claim 6 , wherein the least one turning capability of the agricultural vehicle comprises a minimum turning radius and a maximum turning rate.

8. The method of claim 1 , wherein implementing the continuous end-of-row turn path comprises controlling a vehicle steering system, a vehicle speed system, or a combination thereof.

9. A non-transitory computer readable medium comprising executable instructions that when executed cause a processor to:
generate a non-continuous curvature end-of-row turn path for an agricultural vehicle, wherein the non-continuous curvature end-of-row turn path comprises a plurality of initial segments that are curved or straight;
add at least one continuity segment between each of the plurality of initial segments, wherein the at least one continuity segment comprises a clothoid segment, and the initial segments and the at least one continuity segment combine to form a continuous curvature end-of-row turn path;
shorten or lengthen each of the initial segments and the at least one continuity segment for a target speed of the agricultural vehicle;
determine, via an iterative process, a maximum drivable speed based on a minimum speed and a target speed; and
implement the continuous end-of-row turn path at the maximum drivable speed via an agricultural vehicle steering system and an agricultural vehicle speed system.

10. The non-transitory computer readable medium of claim 9 , wherein the at least one continuity segment does not exceed at least one turning capability of the agricultural vehicle, wherein at least one turning capability of the agricultural vehicle comprises a minimum turning radius and a maximum turning rate.

11. The non-transitory computer readable medium of claim 9 , wherein the iterative process comprises a bisection method algorithm.

12. The non-transitory computer readable medium of claim 9 , wherein the iterative process comprises:
increasing a set speed by a first increment;
determining whether the continuous curvature end-of-row turn path is drivable at the increased set speed;
increasing the set speed by a second increment in response to determining that the continuous curvature end-of-row turn path is drivable at the increased set speed; and
decreasing the set speed by a third increment in response to determining that the continuous curvature end-of-row turn path is not drivable at the increased set speed.

13. The non-transitory computer readable medium of claim 12 , wherein the first increment and the second increment are the same.

14. The non-transitory computer readable medium of claim 9 , wherein the executable instructions, when executed, cause a processor to:
determine whether the continuous curvature end-of-row turn path is drivable at the minimum speed; and
generate a contingency continuous curvature end-of-row turn path that crosses one or more boundaries in response to determining that the continuous curvature end-of-row turn path is not drivable at the minimum speed.

15. A non-transitory computer readable medium comprising executable instructions that when executed cause a processor to:
generate a non-continuous curvature end-of-row turn path for an agricultural vehicle, wherein the non-continuous curvature end-of-row turn path comprises a plurality of initial segments that are curved or straight;
add at least one continuity segment between each of the plurality of initial segments, wherein the at least one continuity segment comprises a clothoid segment, and the initial segments and the at least one continuity segment combine to form a continuous curvature end-of-row turn path;
determine, via an iterative process, a maximum drivable speed based on a minimum speed and a target speed; and
implement the continuous end-of-row turn path at the maximum drivable speed via an agricultural vehicle steering system and an agricultural vehicle speed system.

16. The non-transitory computer readable medium of claim 15 , wherein the at least one continuity segment does not exceed at least one turning capability of the agricultural vehicle, wherein the at least one turning capability of the agricultural vehicle comprises a minimum turning radius and a maximum turning rate.

17. The non-transitory computer readable medium of claim 15 , wherein the iterative process comprises a bisection method algorithm.

18. The non-transitory computer readable medium of claim 15 , wherein the iterative process comprises:
increasing a set speed by a first increment;
determining whether the continuous curvature end-of-row turn path is drivable at the increased set speed;
increasing the set speed by a second increment in response to determining that the continuous curvature end-of-row turn path is drivable at the increased set speed; and
decreasing the set speed by a third increment in response to determining that the continuous curvature end-of-row turn path is not drivable at the increased set speed.

19. The non-transitory computer readable medium of claim 18 , wherein the first increment and the second increment are the same.

20. The non-transitory computer readable medium of claim 15 , wherein the executable instructions, when executed, cause a processor to:
determine whether the continuous curvature end-of-row turn path is drivable at the minimum speed; and
generate a contingency continuous curvature end-of-row turn path that crosses one or more boundaries in response to det

Assignees

• Cnh Ind America Llc
• Autonomous Solutions Inc
• Cnh Ind American Llc

Inventors

• Bunderson Nathan Eric
• Morwood Daniel John
• Ray Brian Robert
• Dix Peter John
• Mccarthy Brendan Paul
• Turpin Bret Todd
• Mcclelland Brett

Classifications

• G05D1/0217

  in accordance with energy consumption, time reduction or distance reduction criteria · CPC title

• A01B79/005

  Precision agriculture · CPC title

• G01C21/10

  by using measurements of speed or acceleration (G01C21/24, G01C21/26 take precedence) · CPC title

• G05D1/0223

  involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00) · CPC title

• A01B69/008 Primary

  automatic · CPC title