Path planning system for a work vehicle

• US 10,492,355 B2
• Filed: 06/19/2017
• Issued: 12/03/2019
• Est. Priority Date: 06/19/2017
• Status: Active Grant

• Current Assignee: Autonomous Solutions, Inc., CNH Industrial America LLC (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Kelley, John Joseph, Bunderson, Nathan Eric, Morwood, Daniel John
• Primary Examiner(s): Hutchinson, Alan D
• Application Number:
  US15/627,353
• Publication Number:
  US 20180359908A1
• Time in Patent Office: 897 Days
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• 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

Abstract

A path planning system for a work vehicle includes a controller configured to determine an initial path between an end point of a first swath and a starting point of a second swath. In addition, the controller is configured to identify a restricted region positioned along the initial path, and to determine a first bounding point of the restricted region. The controller is also configured to determine a first waypoint based on the first bounding point. A distance between the first waypoint and the first bounding point is greater than or equal to half of a lateral extent of the work vehicle and less than half of a lateral extent of an implement. Furthermore, the controller is configured to determine an updated path that intersects the first waypoint, and to output signal(s) indicative of the updated path and/or instructions to direct the work vehicle along the updated path.

Claims

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

at least one controller comprising a memory and a processor, wherein the at least one controller is configured to;

determine a path between an end point of a first swath and a starting point of a second swath;

perform an iterative process until a stop condition is reached, wherein the iterative process comprises;

identifying a restricted region positioned along the path;

determining, in response to identifying the restricted region positioned along the path, a bounding point of the restricted region;

determining only one waypoint of one or more waypoints, wherein the one waypoint is determined based on the bounding point, a distance between the one waypoint and the bounding point is greater than or equal to half of a lateral extent of the work vehicle, and the distance between the one waypoint and the bounding point is less than half of a lateral extent of an implement of the work vehicle system; and

updating the path to intersect each waypoint of the one or more waypoints; and

output one or more signals indicative of the path, instructions to direct the work vehicle along the path, or a combination thereof;

wherein the stop condition comprises determining that the restricted region is not positioned along the path.

2. The path planning system of claim 1, wherein each bounding point corresponds to an end point or a starting point of an intermediate swath within the restricted region.

3. The path planning system of claim 1, wherein each waypoint of the one or more waypoints is positioned laterally outward from and substantially longitudinally even with a respective bounding point relative to the initial path.

4. The path planning system of claim 1, wherein the at least one controller is further configured to output the one or more signals to a movement control system of the work vehicle if the one or more signals are indicative of instructions to direct the work vehicle along the updated path, and the movement control system comprises a speed control system, a steering control system, or a combination thereof.

5. One or more tangible, non-transitory, machine-readable media comprising instructions configured to cause a processor to:

determine a path between an end point of a first swath and a starting point of a second swath;

perform an iterative process until a stop condition is reached, wherein the iterative process comprises;

identifying a restricted region positioned along the path;

determining, in response to identifying the restricted region positioned along the path, a bounding point of the restricted region;

determining only one waypoint of one or more waypoints, wherein the one waypoint is determined based on the bounding point, a distance between the one waypoint and the bounding point is greater than or equal to half of a lateral extent of a work vehicle of a work vehicle system, and the distance between the one waypoint and the bounding point is less than half of a lateral extent of an implement of the work vehicle system; and

updating the path to intersect each waypoint of the one or more waypoints; and

output one or more signals indicative of the path, instructions to direct the work vehicle along the path, or a combination thereof;

wherein the stop condition comprises determining that the restricted region is not positioned along the path.

6. The one or more tangible, non-transitory, machine-readable media of claim 5, wherein each bounding point corresponds to an end point or a starting point of an intermediate swath within the restricted region.

7. The one or more tangible, non-transitory, machine-readable media of claim 5, wherein each waypoint of the one or more waypoints is positioned laterally outward from and substantially longitudinally even with a respective bounding point relative to the path.

8. The one or more tangible, non-transitory, machine-readable media of claim 5, wherein the instructions are further configured to cause the processor to output the one or more signals to a movement control system of the work vehicle if the one or more signals are indicative of instructions to direct the work vehicle along the updated path, and the movement control system comprises a speed control system, a steering control system, or a combination thereof.

9. A method for planning a path for a work vehicle of a work vehicle system, comprising:

determining, via at least one controller, a path between an end point of a first swath and a starting point of a second swath;

performing, via the at least one controller, an iterative process until a stop condition is reached, wherein the iterative process comprises;

identifying a restricted region positioned along the path;

determining a bounding point of the restricted region in response to identifying the restricted region positioned along the path;

determining only one waypoint of one or more waypoints, wherein the one waypoint is determined based on the bounding point, a distance between the one waypoint and the bounding point is greater than or equal to half of a lateral extent of the work vehicle, and the distance between the one waypoint and the bounding point is less than half of a lateral extent of an implement of the work vehicle system; and

updating the path to intersect each waypoint of the one or more waypoints; and

outputting, via the at least one controller, one or more signals indicative of the path, instructions to direct the work vehicle along the path, or a combination thereof;

wherein the stop condition comprises determining that the restricted region is not positioned along the path.

10. The method of claim 9, wherein each bounding point corresponds to an end point or a starting point of an intermediate swath within the restricted region.

11. The method of claim 9, wherein each waypoint of the one or more waypoints is positioned laterally outward from and substantially longitudinally even with a respective bounding point relative to the initial path.

12. The method of claim 9, wherein outputting the one or more signals comprises outputting, via the at least one controller, the one or more signals to a movement control system of the work vehicle if the one or more signals are indicative of instructions to direct the work vehicle along the updated path, and the movement control system comprises a speed control system, a steering control system, or a combination thereof.