LEADER-FOLLOWER SEMI-AUTONOMOUS VEHICLE WITH OPERATOR ON SIDE

• US 20100063680A1
• Filed: 09/11/2008
• Published: 03/11/2010
• Est. Priority Date: 09/11/2008
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Tolstedt, Jonathan Louis, Anderson, Noel Wayne
• Granted Patent: US 8,392,065 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• 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 2201/0213 Road vehicle, e.g. car or truck

Abstract

The illustrative embodiments provide a method and apparatus for controlling movement of a vehicle. User input selecting a path for the vehicle is received from an operator. The vehicle responds to the user input by moving along the selected path in a manner that maintains the operator on a side of the vehicle. The illustrative embodiments further provide a method and apparatus for improved machine control. The vehicle receives a power-up command, instructions to execute a planned path, and information identifying a leader. The leader is an operator. The vehicle then executes the planned path using the information identifying the leader in order to follow a path of the leader. The vehicle moves along the path in a manner that maintains the leader in a position proximate to a side of the vehicle.

Claims

1. A method for controlling movement of a vehicle, the method comprising:

receiving user input from an operator, wherein the user input selects a path for the vehicle to form a selected path; and

responsive to receiving the user input, moving the vehicle along the selected path in a manner that maintains the operator on a side of the vehicle.

2. The method of claim 1 further comprising:

responsive to a prior user input, recording the selected path while the vehicle moves along the selected path.

3. The method of claim 1 further comprising:

identifying a location of the operator using a plurality of sensors.

4. The method of claim 3, wherein the plurality of sensors comprises at least one of a global positioning system, structured light sensor, two dimensional/three dimensional lidar, dead reckoning, infrared camera, visible light camera, radar, ultrasonic sonar, and radio frequency identification reader.

5. The method of claim 1, wherein the vehicle moves along the selected path by at least one of the operator driving the vehicle on the path from within the vehicle, following the operator as a leader in a leader/follower mode, and the operator driving the vehicle on the path using a remote control device.

6. The method of claim 2 further comprising;

receiving additional user input of selected waypoints on the selected path.

7. The method of claim 1, wherein the selected path includes a set of waypoints, and wherein the moving step further comprises:

moving the vehicle along the selected path;

responsive to reaching a waypoint in the set of waypoints, stopping the vehicle; and

resuming movement along the path in response to an event.

8. The method of claim 7, wherein the event is selected from one of an expiration of a period of time and a command from the operator to resume movement along the planned path, and movement of the operator past a defined point of the vehicle.

9. The method of claim 1 further comprising:

entering the path on a map prior to receiving the user input.

10. The method of claim 1, wherein the path is a straight line.

11. The method of claim 1, wherein the moving step further comprises:

responsive to detecting an obstacle in the selected path, stopping the vehicle.

12. The method of claim 11, wherein the moving step further comprises:

responsive to the obstacle in the selected path being detected, generating an alert to the operator.

13. The method of claim 12, wherein the moving step further comprises:

responsive to receiving a user input from the operator to move the vehicle around the obstacle, starting the vehicle; and

moving the vehicle around the obstacle based on the user input from the operator.

14. The method of claim 1, wherein the moving step further comprises:

responsive to detecting an obstacle in the selected path, executing a maneuver to avoid the obstacle.

15. The method of claim 1, further comprising:

monitoring the path for an obstacle with a set of sensors.

16. The method of claim 15, wherein the obstacle is one of a person, a vehicle, and debris in the path.

17. A method for improved machine control, the method comprising:

receiving a power-up command;

receiving instructions to execute a planned path;

receiving information identifying a leader, wherein the leader is an operator;

executing the planned path using the information identifying the leader in order to follow a path of the leader; and

moving along the path in a manner that maintains the leader in a position proximate to a side of the vehicle.

18. The method of claim 17, further comprising:

distinguishing between the leader and other objects in an environment surrounding the vehicle.

19. The method of claim 17, further comprising:

receiving information describing obstacles in a path of the vehicle;

receiving obstacle avoidance instructions;

executing the obstacle avoidance instructions; and

resuming moving along the path in the manner that maintains the leader in the position proximate to the side of the vehicle.

20. The method according to claim 17, wherein receiving instructions comprises at least one of receiving start and end points on a map and receiving video input of the leader walking the path.

21. The method according to claim 17, wherein the information identifying the leader includes an identifying characteristic correlating with a pre-determined list of identifying characteristics for leaders.

22. The method according to claim 17, further comprising:

requesting positioning information from a high integrity perception system;

receiving the positioning information from the high integrity perception system; and

processing the positioning information in association with the planned path.

23. The method according to claim 17, further comprising:

alerting the environment surrounding the vehicle using audio and visual signals, wherein the audio and visual signals vary dynamically according to one or more factors identified in the environment.

24. The method according to claim 17, further comprising:

identifying a boundary to a path, wherein the path is a ground surface appropriate for vehicle movement; and

maintaining a fixed distance between the vehicle and the boundary identified.

25. A vehicle comprising:

a steering system;

a propulsion system;

a braking system;

a sensor system; and

a machine controller connected to the steering system, the propulsion system, the braking system, and the sensor system;

wherein the machine controller receives user input from an operator with instructions for a planned path and sends commands to the steering system, the propulsion system, and the braking system to move the vehicle along the planned path in a manner that maintains the operator in a position proximate to a side of the vehicle.

26. The vehicle of claim 25, wherein the machine controller identifies objects in the environment associated with the planned path.

27. The vehicle of claim 25, wherein the machine controller identifies a boundary to the planned path to form an identified boundary and maintains a fixed distance between the vehicle and the identified boundary, and wherein the planned path is a ground surface appropriate for movement of the vehicle.

28. The vehicle of claim 27, wherein the boundary is a curb.

29. The vehicle of claim 27, wherein the boundary is vegetation.

30. The vehicle of claim 25, wherein the machine controller stops the vehicle responsive to detecting an obstacle in the planned path.

31. The vehicle of claim 30, wherein the machine controller generates an alert to the operator responsive to the obstacle in the planned path being detected.

32. The vehicle of claim 30, wherein the machine controller starts the vehicle, responsive to receiving a user input from the operator to move the vehicle around the obstacle, and moves the vehicle around the obstacle based on the user input from the operator.

33. The vehicle of claim 25, wherein the machine controller executes a maneuver to avoid an obstacle responsive to detecting the obstacle in the planned path.

34. The vehicle of claim 33, wherein the obstacle is one of a person, a vehicle, and debris in the path.

35. The vehicle of claim 25, wherein the machine controller further distinguishes the operator from other objects.

36. The vehicle of claim 25, wherein the machine controller further collects data regarding the environment.

37. The vehicle of claim 36, wherein the data comprises a location for at least one of a pothole for repair, a tree requiring trimming, an improperly parked vehicle, and a stolen vehicle.

38. The vehicle of claim 25, wherein the machine controller stops movement of the vehicle in response to a user input from the operator.

39. A method for controlling movement of a vehicle, the method comprising:

receiving information for processing a selected path for the vehicle; and

moving the vehicle along the selected path in a manner that maintains the operator on a side of the vehicle.

40. The method of claim 39, wherein the operator is a human.