System and method for using geo-fenced guidance lines

• US 10,386,844 B2
• Filed: 09/30/2015
• Issued: 08/20/2019
• Est. Priority Date: 09/30/2015
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Wilcox, Timothy A., Pickett, Terence D.
• Primary Examiner(s): Wiltey, Nicholas K
• Application Number:
  US14/871,426
• Publication Number:
  US 20170090479A1
• Time in Patent Office: 1,420 Days
• Field of Search: None
• CPC Class Codes: A01B 69/007 Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
• CPC Class Codes: G01C 21/3461 Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: H04W 4/021 Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/024 Guidance services
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/46 for vehicle-to-vehicle communication [V2V]

Abstract

Systems and methods for planning a path of a vehicle are provided. One system comprises a location-determining receiver for determining location data representing a current vehicle location and a guidance module for identifying at least one geospatial region encompassing the current vehicle location based on geographical information retrieved from a guidance database. The guidance module is capable of generating a list of potential guidance lines based on the at least one geospatial region, each geospatial region being associated with at least one guidance line, each of the potential guidance lines on the list ranked based on one or more guidance criteria retrieved from the guidance database. The system further includes a user interface for displaying the guidance lines on the list to an operator of the vehicle for selection of a selected one of the potential guidance lines for controlling the path of the vehicle.

Claims

1. A system for planning a path of a vehicle, the system comprising:

a location-determining receiver configured for determining location data representing a current vehicle location;

a guidance module configured for;

determining a plurality of geospatial regions defined within a field based on boundaries of the field, wherein each geospatial region in the field partially overlaps with one or more other ones of the geospatial regions in the field;

identifying at least two geospatial regions of the plurality of determined geospatial regions encompassing the current vehicle location based on geographical information retrieved from a guidance database;

generating a list of potential guidance lines based on the identified geospatial regions, each geospatial region being associated with at least one guidance line defined by a linear edge of the geospatial region; and

ranking each of the potential guidance lines based on one or more guidance criteria retrieved from the guidance database;

a user interface configured for displaying the potential guidance lines on the list to an operator of the vehicle for selection of a selected one of the potential guidance lines for controlling the path of the vehicle;

a data storage device configured for storing the guidance module and the guidance database;

a data processor in communication with the data storage device configured for execution of the guidance module;

a vehicle steering system; and

a vehicle controller configured for controlling the vehicle steering system based on the selected one of the potential guidance lines.

2. The system of claim 1, wherein the one or more guidance criteria include at least one of an approach angle to the guidance line from the current vehicle location, a priority sequence for covering subsections within the field, or a relative position of the potential guidance lines in an ordered sequence.

3. The system of claim 1, wherein the guidance module is further configured for automatically selecting a first ranked potential guidance line as the selected one of the potential guidance lines.

4. The system of claim 1, wherein the user interface is further configured for receiving a user input selecting one of the potential guidance lines as the selected one of the potential guidance lines.

5. The system of claim 1, wherein displaying the potential guidance lines includes graphically displaying the at least one geospatial region and the potential guidance lines on a map.

6. The system of claim 1, wherein displaying the potential guidance lines includes displaying a list of names corresponding to the potential guidance lines.

7. The system of claim 1, wherein the geographical information includes line segment definitions for defining a plurality of guidance lines and boundary box definitions for defining a plurality of geospatial regions, each boundary box definition including at least one of the plurality of guidance lines.

8. The system of claim 1, wherein the guidance module is further configured for providing the selected one of the potential guidance lines to the vehicle controller for controlling the path of the vehicle.

9. The system of claim 1, wherein the selected one of the potential guidance lines traverses two or more of the plurality of geospatial regions.

10. The system of claim 1, wherein the vehicle controller is further configured for controlling the vehicle steering system to traverse from a first geospatial region to a second geospatial region of the plurality of geospatial regions.

11. The system of claim 1, wherein an area covered by the plurality of geospatial regions is contiguous.

12. The system of claim 1, wherein each of the plurality of geospatial regions is defined by a plurality of boundary segments in which at least two of the boundaries segments are a different shape.

13. A method for planning a path of a vehicle, comprising:

determining a plurality of geospatial regions defined within a field based on boundaries of the field, wherein each geospatial region in the field partially overlaps with one or more other ones of the geospatial regions in the field;

determining, using a location-determining receiver, location data representing a current vehicle location;

identifying, using a processor, at least two geospatial regions of the plurality of determined geospatial regions encompassing the current vehicle location based on geographical information retrieved from a guidance database;

generating, using the processor, a list of potential guidance lines based on the identified geospatial regions, each geospatial region being associated with at least one guidance line defined by a linear edge of the geospatial region;

ranking each of the potential guidance lines based on one or more guidance criteria retrieved from the guidance database;

displaying, via a user interface, the potential guidance lines on the list to an operator of the vehicle for selection of a selected one of the potential guidance lines for controlling the path of the vehicle; and

controlling, by a vehicle controller, a vehicle steering system of the vehicle based on the selected one of the potential guidance lines.

14. The method of claim 13, wherein the one or more guidance criteria include at least one of an approach angle to the guidance line from the current vehicle location, a priority sequence for covering subsections within the field, or a relative position of the potential guidance lines in a ordered sequence.

15. The method of claim 13, further comprising automatically selecting, using the processor, a first ranked potential guidance line as the selected one of the potential guidance lines.

16. The method of claim 13, further comprising receiving, via the user interface, a user input selecting one of the potential guidance lines as the selected one of the potential guidance lines.

17. The method of claim 13, wherein displaying the potential guidance lines includes graphically displaying the at least one geospatial region and the potential guidance lines on a map.

18. The method of claim 13, wherein displaying the potential guidance lines includes displaying a list of names corresponding to the potential guidance lines.

19. The method of claim 13, wherein the geographical information includes line segment definitions for defining a plurality of guidance lines and boundary box definitions for defining a plurality of geospatial regions, each boundary box definition including at least one of the plurality of guidance lines.

20. The method of claim 13, further comprising providing, using the processor, the selected one of the potential guidance lines to the vehicle controller for controlling the path of the vehicle.