VIRTUAL ENVIRONMENT AND METHOD FOR SORTING AMONG POTENTIAL ROUTE PLANS FOR OPERATING AUTONOMOUS MACHINE AT WORK SITE
First Claim
1. A method for sorting among a plurality of potential route plans for operating an autonomous ground based machine at a work site, the method comprising:
- creating a virtual model of a terrain of the work site;
creating a first virtual lane within the virtual model, wherein the first virtual lane corresponds to a first proposed route plan of the plurality of potential route plans and has at least one measurable lane constraint;
creating a first virtual machine footprint having a first virtual movement profile, wherein the first virtual machine footprint corresponds to an actual footprint of the autonomous ground based machine and the first virtual movement profile corresponds to an actual autonomous movement profile of the autonomous ground based machine;
moving the first virtual machine footprint from a starting position along the first virtual lane to an ending position along the first virtual lane according to the first virtual movement profile;
during the moving step, comparing the first virtual machine footprint to the at least one measurable lane constraint; and
designating the first proposed route plan as either viable or unacceptable based on the comparison of the first virtual machine footprint to the at least one measurable lane constraint.
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Accused Products
Abstract
A method for sorting among a plurality of potential route plans for operating an autonomous ground based machine includes a step of creating a virtual model of a terrain of a work site. A first virtual lane having at least one measurable lane constraint is created within the virtual model. A first virtual machine footprint is created and has a first virtual movement profile corresponding to an actual autonomous movement profile of the autonomous machine. The first virtual machine footprint is moved from a starting position along the first virtual lane to an ending position according to the first virtual movement profile. During the moving step, the first virtual machine footprint is compared to the at least one measurable lane constraint. The first proposed route plan is then designated as either viable or unacceptable based on the comparison.
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Citations
16 Claims
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1. A method for sorting among a plurality of potential route plans for operating an autonomous ground based machine at a work site, the method comprising:
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creating a virtual model of a terrain of the work site; creating a first virtual lane within the virtual model, wherein the first virtual lane corresponds to a first proposed route plan of the plurality of potential route plans and has at least one measurable lane constraint; creating a first virtual machine footprint having a first virtual movement profile, wherein the first virtual machine footprint corresponds to an actual footprint of the autonomous ground based machine and the first virtual movement profile corresponds to an actual autonomous movement profile of the autonomous ground based machine; moving the first virtual machine footprint from a starting position along the first virtual lane to an ending position along the first virtual lane according to the first virtual movement profile; during the moving step, comparing the first virtual machine footprint to the at least one measurable lane constraint; and designating the first proposed route plan as either viable or unacceptable based on the comparison of the first virtual machine footprint to the at least one measurable lane constraint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A virtual environment for sorting among a plurality of potential route plans for operating an autonomous ground based machine at a work site, comprising:
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a virtual model of a terrain of the work site; a first virtual lane within the virtual model, wherein the first virtual lane corresponds to a first proposed route plan of the plurality of potential route plans and has at least one measurable lane constraint; a first virtual machine footprint having a first virtual movement profile, wherein the first virtual machine footprint corresponds to an actual footprint of the autonomous ground based machine and the first virtual movement profile corresponds to an actual autonomous movement profile of the autonomous ground based machine; an electronic processor configured to move the first virtual machine footprint from a starting position along the first virtual lane to an ending position along the first virtual lane according to the first virtual movement profile, compare the first virtual machine footprint to the at least one measurable lane constraint while the first virtual machine footprint is moving, and designate the first proposed route plan as either viable or unacceptable based on the comparison of the first virtual machine footprint to the at least one measurable lane constraint. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification