K-turn path controller

• US 10,266,201 B2
• Filed: 11/10/2016
• Issued: 04/23/2019
• Est. Priority Date: 11/19/2015
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Agjunction LLC (Kubota Corporation)
• Inventors: Dang, Tri M., Sullivan, Timothy J.
• Primary Examiner(s): Goldman, Richard A
• Application Number:
  US15/348,072
• Publication Number:
  US 20170144702A1
• Time in Patent Office: 894 Days
• Field of Search: 701 41, 701 42, 701 43, 701 26, 701 48, 701 50, 701 58
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids
• CPC Class Codes: B62D 6/001 the torque NOT being among the input parameters
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

A guidance system may derive a K-turn path when a vehicle reaches an end of a first way line in a field. The guidance system may send the K-turn path to a steering controller to turn the vehicle around in a headland area to the beginning of a second way-line in the field. A first segment of the K-turn path may turn the vehicle along a first path in a forward direction and a second segment of the K-turn path may turn the vehicle along a second path in a reverse direction. A third segment of the K-turn path may turn the vehicle along a third path in the forward direction to a starting location of the second way-line. The K-turn path uses less area than other types of turns reducing the amount of headland used for turning around the vehicle.

Claims

1. A controller for steering a vehicle, comprising:

a processor;

a steering controller coupled to the processor to steer the vehicle;

one or more sensors coupled to the processor to identify a position of the vehicle; and

memory coupled to the processor and storing instructions that, when executed by the processor, cause the controller to;

send commands to the steering controller to steer the vehicle along a first way line on a field;

detect, based on data from the one or more sensors, the vehicle reaching an end of the first way line;

pre-calculate a K-turn path for the vehicle prior to accessing a headland area of the field, the K-turn path comprising a first segment, a second segment, and a third segment, wherein pre-calculating the K-turn path includes;

determining a maximum steering curvature of the vehicle;

determining a maximum steering curvature rate of the vehicle; and

calculating one or more of the first segment, the second segment, and the third segment based on the maximum steering curvature of the vehicle and the maximum steering rate of the vehicle;

send the K-turn path to the steering controller to turn the vehicle around in the headland area of the field to a beginning of a second way line on the field; and

steer the vehicle along the second way line using the steering controller.

2. The controller of claim 1, wherein sending the K-turn path to the steering controller includes:

sending the first segment of the K-turn path to the steering controller to steer the vehicle in a forward direction;

detecting the vehicle reaching an end of the first segment;

sending the second segment of the K-turn path to the steering controller to steer the vehicle in reverse direction;

detecting the vehicle reaching an end of the second segment; and

sending the third segment of the K-turn path to the steering controller to steer the vehicle along to the destination way line.

3. The controller of claim 2, wherein the first and third segments are substantially symmetric.

4. The controller of claim 1, wherein pre-calculating the K-turn path includes:

pre-calculating a plurality of K-turn paths, the plurality of K-turn paths including a first K-turn path with a first turning direction and a second K-turn path with a second turning direction, the first turning direction being different from the second turning direction; and

selecting the second K-turn path to send to the steering controller for steering the vehicle based on determining that the first K-turn path extends outside of the headland area and the second K-turn path is within the headland area.

5. The controller of claim 4, wherein selecting the second K-turn path is further based on:

identifying an obstruction overhanging the headland area; and

determining that the second K-turn path avoids collision between the vehicle and the overhanging obstruction.

6. The controller of claim 1, wherein the memory further stores instructions for causing the controller to:

store different K-turn shapes;

identify a location and orientation of the vehicle at the end of the first way-line and a desired location and orientation of the vehicle at the beginning of the second way-line; and

select one of the different K-turn shapes for the K-turn path based on the location and orientation of the vehicle at the end of the first way-line and the desired location and orientation of the vehicle at the beginning of the second way-line.

7. The controller of claim 6, wherein the memory further stores instructions for causing the controller to:

identify a shape of the field at the end of the first way-line and the beginning of the second way line; and

select one of the different K-turn shapes based on the shape of the field at the end of the first way-line and beginning of the second way-line.

8. The controller of claim 1, further comprising a display screen coupled to the processor, wherein the memory further stores instructions for causing the controller to:

display the field on an electronic map presented on the display screen;

display a boundary on the electronic map surrounding the field;

define the headland area on the electronic map between the boundary and one end of the field; and

pre-calculate the K-turn path based on the defined headland area defined on the electronic map.

9. The controller of claim 1, wherein the memory further stores instructions for causing the controller to:

identify a starting position and heading of the vehicle;

identify an ending position and heading of the vehicle;

determine the K-turn segments based on the maximum steering curvature, the maximum steering curvature rate, the starting position and heading of the vehicle, and the ending position and heading of the vehicle; and

send the K-turn segments to the steering controller to steer the vehicle from the starting position and heading to the ending position and heading.

10. The controller of claim 9, wherein the memory further stores instructions for causing the controller to:

identify a maximum steering curvature of the vehicle in a left direction;

identify a maximum steering curvature of the vehicle in a right direction;

identify a maximum steering curvature rate of the vehicle in the left direction;

identify a maximum steering curvature rate of the vehicle in the right direction; and

determine the K-turn segments based on the maximum steering curvature of the vehicle in the left direction, the maximum steering curvature of the vehicle in the right direction, the maximum steering curvature rate of the vehicle in the left direction, and the maximum steering curvature rate of the vehicle in the right direction.

11. The controller of claim 10, wherein the first and third curvatures and curvature rates are the same.

12. The method controller of claim 9, wherein the memory further stores instructions for causing the controller to:

send the first K-turn segment to the steering controller causing the vehicle to turn with a first curvature and first curvature rate;

send the second K-turn segment to the steering controller causing the vehicle to turn with a second curvature and second curvature rate; and

send the third K-turn segment to the steering controller causing the vehicle to turn with a third curvature and third curvature rate.

13. The controller of claim 12, wherein the memory further stores instructions for causing the controller to generate one or more of:

the first segment, the second segment, and the third segment with a curvature bounded by the maximum steering curvature of the vehicle and a curvature first derivative bounded by the maximum steering curvature rate of the vehicle.

14. The controller of claim 12, wherein the curvature for the first segment and the second segment is greater than the curvature for the third segment, and wherein the curvature rates for the first segment and the second segment are greater than the curvature rate for the third segment.

15. The controller of claim 9, wherein the memory further stores instructions for causing the controller to:

store different K-turn shapes;

identify an available headland area based on the starting position and heading of the vehicle and the ending position and heading of the vehicle;

select one of the different K-turn shapes based on the available headland area; and

send the K-turn segments for the selected K turn shape to the steering controller to steer the vehicle from the starting position to the ending position.

16. The controller of claim 1, wherein the memory further stores instructions for causing the controller to:

steer the vehicle, using the steering controller, through the first segment of the K-turn path;

allow an operator of the vehicle to shift the vehicle into a reverse gear; and

steer the vehicle, using the steering controller, through the second segment of the K-turn path and the third segment of the K-turn path.

17. The controller of claim 1, wherein the one or more sensors include one or more of:

a global positioning system (GPS) and an inertial navigation device, and wherein the maximum steering curvature of the vehicle and the maximum steering curvature rate of the vehicle are determined based on data from the one or more sensors.

18. A method comprising:

sending, by a vehicle guidance system, commands to a steering controller to steer a vehicle along a first way line on a field;

detecting, by the vehicle guidance system based on data from one or more sensors, the vehicle reaching an end of the first way line;

pre-calculating, by the guidance system, a K-turn path for the vehicle prior to accessing a headland area of the field, the K-turn path comprising a first segment, a second segment, and a third segment, wherein pre-calculating the K-turn path includes;

determining a maximum steering curvature of the vehicle;

determining a maximum steering curvature rate of the vehicle; and

calculating one or more of the first segment, the second segment, and the third segment based on the maximum steering curvature of the vehicle and the maximum steering rate of the vehicle;

sending, by the guidance system, the K-turn path to the steering controller to turn the vehicle around in the headland area of the field to a beginning of a second way line on the field; and

steering, by the guidance system, the vehicle along the second way line using the steering controller.

19. A non-transitory computer-readable medium storing instructions that, when executed by a vehicle guidance system, cause the vehicle guidance system to perform operations comprising:

sending commands to a steering controller to steer a vehicle along a first way line on a field;

detecting, based on data from one or more sensors, the vehicle reaching an end of the first way line;

pre-calculating a K-turn path for the vehicle prior to accessing a headland area of the field, the K-turn path comprising a first segment, a second segment, and a third segment, wherein pre-calculating the K-turn path includes;

determining a maximum steering curvature of the vehicle;

determining a maximum steering curvature rate of the vehicle; and

calculating one or more of the first segment, the second segment, and the third segment based on the maximum steering curvature of the vehicle and the maximum steering rate of the vehicle;

sending the K-turn path to the steering controller to turn the vehicle around in the headland area of the field to a beginning of a second way line on the field; and

steering the vehicle along the second way line using the steering controller.