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

Patent metadata

Field	Value
Publication number	US-9974225-B2
Application number	US-201614995923-A
Country	US
Kind code	B2
Filing date	Jan 14, 2016
Priority date	Jan 14, 2016
Publication date	May 22, 2018
Grant date	May 22, 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 initial segments, wherein the at least one continuity segment is 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, and implementing the continuous end-of-row turn path, displaying the continuous end-of-row turn path, or both.

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; and
implementing the continuous end-of-row turn path, displaying the continuous end-of-row turn path, or both.

2. 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.

3. The method of claim 2 , comprising reducing the desired speed if the agricultural vehicle is not capable of traversing the continuous curvature end-of-row turn path at the desired speed; and
adjusting the one or more parameters of the initial segments and the at least one continuity segment for the reduced desired speed of the agricultural vehicle.

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

5. The method of claim 4 , wherein the least one turning capability of the agricultural vehicle comprises a minimum turning radius and a maximum turning rate.

6. The method of claim 1 , wherein the at least one continuity segment is based at least in part on an initial position of the agricultural vehicle, an initial heading of the agricultural vehicle, an initial curvature of the agricultural vehicle, a rate of curvature of the agricultural vehicle, a path length of the agricultural vehicle, or a combination thereof.

7. The method of claim 1 , wherein implementing the continuous end-of-row turn path comprises controlling a vehicle steering system.

8. The method of claim 7 , wherein implementing the continuous end-of-row turn path comprises controlling a vehicle speed system.

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 desired speed of the agricultural vehicle; and
implement the continuous end-of-row turn, display the continuous end-of-row turn path, or both.

10. The non-transitory computer readable medium of claim 9 , wherein the non-continuous curvature end-of-row turn path comprises a Dubins path.

11. 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.

12. The non-transitory computer readable medium of claim 11 , wherein the least one turning capability of the agricultural vehicle comprises a minimum turning radius and a maximum turning rate.

13. The non-transitory computer readable medium of claim 9 , wherein the at least one continuity segment is based at least in part on an initial position of the agricultural vehicle, an initial heading of the agricultural vehicle, an initial curvature of the agricultural vehicle, a rate of curvature of the agricultural vehicle, a path length of the agricultural vehicle, or a combination thereof.

14. The non-transitory computer readable medium of claim 9 , wherein implementing the continuous end-of-row turn path comprises controlling a vehicle steering system.

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; and
implement the continuous end-of-row turn, display the continuous end-of-row turn path, or both.

16. The non-transitory computer readable medium of claim 15 , wherein the non-continuous curvature end-of-row turn path comprises a Dubins path.

17. 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.

18. The non-transitory computer readable medium of claim 17 , wherein the least one turning capability of the agricultural vehicle comprises a minimum turning radius and a maximum turning rate.

19. The non-transitory computer readable medium of claim 15 , wherein the at least one continuity segment is based at least in part on an initial position of the agricultural vehicle, an initial heading of the agricultural vehicle, an initial curvature of the agricultural vehicle, a rate of curvature of the agricultural vehicle, a path length of the agricultural vehicle, or a combination thereof.

20. The non-transitory computer readable medium of claim 15 , wherein implementing the continuous end-of-row turn path comprises controlling a vehicle steering system.

Assignees

• Cnh Ind America Llc
• Autonomous Solutions Inc

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

• B60W10/20

  including control of steering systems · CPC title

• B60W30/10

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

• B60W2300/15

  Agricultural vehicles · CPC title