METHOD AND SYSTEM FOR COORDINATED VEHICLE CONTROL WITH WIRELESS COMMUNICATION

• US 20090222160A1
• Filed: 03/03/2008
• Published: 09/03/2009
• Est. Priority Date: 03/03/2008
• Status: Active Grant

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: MORSELLI, Riccardo, POSSELIUS, John
• Granted Patent: US 8,160,765 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• 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: A01B 79/005 Precision agriculture
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G05D 2201/0201 Agriculture or harvesting machine

Abstract

A control system controls a pair of vehicles in coordination to traverse a respective pair of trajectories. The control system is configured to specify a plurality of successive waypoints, a safe stopping interval and an intermediate interval greater than the safe stopping interval, and exchange waypoints between vehicles. The system controls each vehicle in coordination with the other, senses a rate of exchange of waypoint data between the vehicles, and determines the safe stopping interval. The control system updates positions with additional waypoints as the respective vehicles pass by waypoints of the forecasted trajectory, determines the length of the forecasted trajectory remaining and compares it with the intermediate interval and the safe stopping interval. The system generates a warning signal if distance is less than the intermediate interval, and if the distance is less than the safe stopping interval, stops within the safe stopping interval.

Claims

1. A method for controlling a stopping trajectory for a pair of vehicles traversing a respective pair of overall trajectories, using a control system including an onboard computer and a wireless communication device disposed on each vehicle, and a vehicle location tracking system, said method comprising the steps of:

specifying for each overall trajectory of the pair of overall trajectories, a plurality of successive waypoints along the overall trajectory, a safe stopping interval and an intermediate interval greater than the safe stopping interval;

exchanging through the wireless communication device a forecasted trajectory associated with each vehicle to the other vehicle of the pair of vehicles, the forecasted trajectory comprising a subset of the associated overall trajectory;

controlling in coordination the relative motion of each vehicle of the pair of vehicles along the respective forecasted trajectory;

for each forecasted trajectory, determining the distance from the associated vehicle to an end of the safe stopping interval;

updating a position of the vehicles periodically;

sequentially updating the forecasted trajectory with additional waypoints in response to the respective vehicles bypassing waypoints of the forecasted trajectory;

in response to sensing a reduction in a rate of exchanging additional waypoints, determining a remainder length of the forecasted trajectory and comparing the remainder length to the intermediate interval and the safe stopping interval; and

;

continuing to traverse the forecasted trajectory in response to the remainder length being greater than the intermediate interval;

generating a warning signal in response to the remainder length being less than or equal to the intermediate interval and greater than the safe stopping interval; and

gradually controlling the associated vehicle to a stop within the safe stopping interval in response to the safe stopping interval being equal to the safe stopping interval.

2. The method of claim 1, wherein each way-point specifies a plurality of parameters related to the associated trajectory, the plurality of parameters including at least two parameters selected from:

time, position, direction and velocity.

3. The method of claim 1, wherein each waypoint of the plurality of successive waypoints describe a beginning point and a termination point of a segment of the trajectory.

4. The method of claim 1, wherein the warning signal warns the drivers of the respective vehicles to prepare to take manual control of the vehicle.

5. The method of claim 1, wherein the warning signal indicates at least one driver of the pair of vehicles to assume manual control of driving the associated vehicle.

6. The method of claim 1, further including the steps of:

designating one vehicle a primary vehicle and the other vehicle a secondary vehicle, at least one driver is driving the secondary vehicle, the secondary vehicle having an overall trajectory that is computed as a function of a primary trajectory associated with the other vehicle; and

determining the secondary vehicle overall trajectory, forecasted trajectory, safe stopping interval and intermediate interval based on the primary vehicle overall trajectory, forecasted trajectory, safe stopping interval and intermediate interval; and

bringing the secondary vehicle to a controlled stop concurrently with the primary vehicle by following the remainder of the secondary vehicle safe stopping trajectory.

7. The method of claim 6, wherein only the driver of the secondary vehicle is required to take manual control of driving the secondary vehicle, and the primary vehicle is controlled automatically.

8. The method of claim 1, also including the step of positioning the pair of vehicles at a pair of predetermined starting points in predetermined relation to the trajectory.

9. A control system for controlling a pair of vehicles concurrently to traverse a respective pair of trajectories, comprising:

an onboard computer and a wireless communication device disposed on each vehicle, a vehicle location tracking system;

the computer having software configured to;

specify for each trajectory of the pair of overall trajectories a plurality of successive waypoints, a safe stopping interval and an intermediate interval greater than the safe stopping interval;

exchange a forecasted trajectory associated with each vehicle to the other vehicle of the pair of vehicles, the forecasted trajectory comprising a subset of the associated overall trajectory;

control movement of each vehicle of the pair of vehicles in coordination with one another along the respective forecasted trajectory,

sense a rate of exchange of additional waypoints data between the respective vehicles

determine for each trajectory the distance from the associated vehicle to an end of the safe stopping interval

update a position of the vehicles periodically, and sequentially thereafter update the forecasted trajectory with at least one additional waypoint in response to the respective vehicles traversing at least one waypoint of the forecasted trajectory;

determine a remainder length of the forecasted trajectory and compare the remainder length to the intermediate interval and the safe stopping interval, in response to a sensed reduction in a rate of exchanging additional waypoints, and;

continue traversing the forecasted trajectory in response to the remainder length being greater than the intermediate interval;

generate a warning signal in response to the remainder trajectory length being less than or equal to the intermediate interval and greater than the safe stopping interval; and

control the associated vehicle to a gradual stop within the safe stopping interval in response to the remainder trajectory length being equal to or less than the safe stopping interval.

10. The control system of claim 9, wherein the software is further configured to determine the initial position of the pair of vehicles at a pair of predetermined starting points in predetermined relation to the trajectory.

11. The control system of claim 9, wherein each waypoint of the plurality of successive waypoints specifies a plurality of parameters related to the associated trajectory, the plurality of parameters including at least two parameters selected from:

time, position, direction and velocity.

12. The control system of claim 9, wherein each waypoint of the plurality of successive waypoints describe a beginning point and a termination point of a segment of the trajectory.

13. The control system of claim 9, wherein the warning signal warns the drivers of the respective vehicles to prepare to take manual control of the vehicle.

14. The control system of claim 9, wherein the warning signal indicates at least one driver of the pair of vehicles to assume manual control of driving the associated vehicle.

15. The control system of claim 9, wherein the software is further configured to:

designate one vehicle a primary vehicle and the other vehicle a secondary vehicle, at least one driver is driving the secondary vehicle, the secondary vehicle having an overall trajectory that is computed as a function of a primary trajectory associated with the other vehicle; and

determine the secondary vehicle overall trajectory, forecasted trajectory, safe stopping interval and intermediate interval based on the primary vehicle overall trajectory, forecasted trajectory, safe stopping interval and intermediate interval; and

bringing the secondary vehicle to a controlled stop concurrently with the primary vehicle by following the remainder of the secondary vehicle safe stopping trajectory.

16. The control system of claim 15, wherein the software is further configured to require the driver of the secondary vehicle to take manual control of driving the secondary vehicle, and to automatically control the primary vehicle.

17. The control system of claim 9, wherein the software is configured to initialize upon receiving reference coordinates for the pair of vehicles at a pair of respective predetermined starting points, the starting points having a predetermined relation to the trajectory.