METHOD AND ARRANGEMENT FOR THE STEERING OF A VEHICLE
First Claim
1. A process,comprising:
- selecting significant object structures based on image data for terrain ahead of the vehicle in a direction of travel of the vehicle,determining a distance between the vehicle and the significant object structures repeatedly, andgenerating steering commands based on the image data regarding the significant object structures and changes in distance between the vehicle and the significant object structures to modify the direction of travel of the vehicle and/or the speed of travel of the vehicle.
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Abstract
The invention relates to a method by which image data from the terrain lying in front of a vehicle (1) in the direction of travel are detected, and from which data steering commands to influence the direction and/or the speed of travel are generated. The invention relates further to an arrangement for steering an agricultural vehicle (1) according to this method. According to the invention, the problem is solved in that prominent objects (3) are selected by means of the image data, the distance between the vehicle (1) and the prominent objects (3) is determined, and the steering commands are generated from the image data which correspond to the objects and from the changes of distance between the vehicle (1) and the objects (3).
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Citations
18 Claims
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1. A process,
comprising: -
selecting significant object structures based on image data for terrain ahead of the vehicle in a direction of travel of the vehicle, determining a distance between the vehicle and the significant object structures repeatedly, and generating steering commands based on the image data regarding the significant object structures and changes in distance between the vehicle and the significant object structures to modify the direction of travel of the vehicle and/or the speed of travel of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system, comprising:
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a motor configured to propel an agricultural vehicle, a steering device configured to modify a direction of travel of the agricultural vehicle, an acceleration/deceleration device configured to modify a speed of travel of the agricultural vehicle, an optical device to capture image data for terrain ahead of the agricultural vehicle in the direction of travel of the agricultural vehicle, and an analysis and processing device configured to generate steering commands from the image data for the steering device, for the acceleration/deceleration device, and/or for implements linked to agricultural vehicle, a device configured to capture image data for significant object structures in the terrain a distance measuring device for the periodic repeated determination of a distance between the agricultural vehicle and the significant object structures, wherein the analysis and processing device is designed to generate the steering commands from the image data for the significant object structures and from changes in a distance between the agricultural vehicle and the significant object structures. - View Dependent Claims (10, 11, 12, 14, 15, 17, 18)
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13. The system of claim 13, wherein at least one of the sensors is a phase-sensitive sensor designed to capture changes in distances.
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16. The system of claim 16, wherein the cylindrical lenses or prisms are embodied such that certain sensor segments of the optical device capture image data for the terrain ahead of the vehicle with a higher resolution than for other sensor segments.
Specification