VIRTUAL ENVIRONMENT AND METHOD FOR SORTING AMONG POTENTIAL ROUTE PLANS FOR OPERATING AUTONOMOUS MACHINE AT WORK SITE

• US 20130311153A1
• Filed: 05/15/2012
• Published: 11/21/2013
• Est. Priority Date: 05/15/2012
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Moughler, Eric Alan, Koehrsen, Craig Lawrence, Horton, Douglas William
• Application Number:
  US13/471,834
• Publication Number:
  US 20130311153A1
• Time in Patent Office: Days
• US Class Current: 703/6
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06Q 10/047 Optimisation of routes or paths, e.g. travelling salesman problem

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.

Claims

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.

2. The method of claim 1, wherein the moving step includes moving the first virtual machine footprint according to a predetermined acceleration rate, a predetermined deceleration rate, and a predetermined turning radius.

3. The method of claim 1, wherein the comparing step includes comparing the first virtual machine footprint to at least one of a width of the first virtual lane, a grade of the first virtual lane, and a curvature of the first virtual lane.

4. The method of claim 1, further including:

creating a second virtual machine footprint having a second virtual movement profile that is different than the first virtual movement profile;

moving the second virtual machine footprint along the first virtual lane according to the second virtual movement profile;

comparing the second virtual machine footprint to the at least one measurable lane constraint while the second virtual machine footprint moves along the first virtual lane; and

designating the first proposed route plan as either viable or unacceptable based on the comparison of both of the first virtual machine footprint and the second virtual machine footprint to the at least one measurable lane constraint.

5. The method of claim 4, further including:

modifying movement of one of the first virtual machine footprint and the second virtual machine footprint based on a current virtual position of another of the first virtual machine footprint and the second virtual machine footprint.

6. The method of claim 4, further including:

moving the first virtual machine footprint and the second virtual machine footprint according to a predetermined work cycle, wherein the predetermined work cycle corresponds to the first proposed route plan;

measuring at least one of a cycle time and a wait time corresponding to movement of the first virtual machine footprint and the second virtual machine footprint according to the predetermined work cycle a predetermined number of times;

comparing the at least one of the cycle time and the wait time to an acceptable time value; and

designating the first proposed route plan as either viable or unacceptable based on the comparison of the at least one of the cycle time and the wait time to the acceptable time value.

7. The method of claim 4, further including:

creating a second virtual lane within the virtual model, wherein the second virtual lane corresponds to the first proposed route plan and has at least one measurable lane constraint, wherein the first virtual lane and the second virtual lane intersect; and

moving a plurality of virtual machine footprints along both of the first virtual lane and the second virtual lane.

8. The method of claim 7, further including:

moving the plurality of virtual machine footprints according to a predetermined work cycle, wherein the predetermined work cycle corresponds to the first proposed route plan;

measuring at least one of a cycle time and a wait time corresponding to movement of the virtual machine footprints according to the predetermined work cycle a predetermined number of times;

comparing the at least one of the cycle time and the wait time to an acceptable time value; and

designating the first proposed route plan as either viable or unacceptable based on the comparison of the at least one of the cycle time and the wait time to the acceptable time value.

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:

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.

10. The virtual environment of claim 9, wherein the first virtual movement profile includes a predetermined acceleration rate, a predetermined deceleration rate, and a predetermined turning radius.

11. The virtual environment of claim 9, wherein the at least one measurable lane constraint includes at least one of a width of the first virtual lane, a grade of the first virtual lane, and a curvature of the first virtual lane.

12. The virtual environment of claim 9, wherein the electronic processor is further configured to:

create a second virtual machine footprint having a second virtual movement profile that is different than the first virtual movement profile;

move the second virtual machine footprint along the first virtual lane according to the second virtual movement profile;

compare the second virtual machine footprint to the at least one measurable lane constraint while the second virtual machine footprint moves along the first virtual lane; and

designate the first proposed route plan as either viable or unacceptable based on the comparison of both of the first virtual machine footprint and the second virtual machine footprint to the at least one measurable lane constraint.

13. The virtual environment of claim 12, wherein the electronic processor is further configured to:

modify movement of one of the first virtual machine footprint and the second virtual machine footprint based on a current virtual position of another of the first virtual machine footprint and the second virtual machine footprint.

14. The virtual environment of claim 12, wherein the electronic processor is further configured to:

move the first virtual machine footprint and the second virtual machine footprint according to a predetermined work cycle, wherein the predetermined work cycle corresponds to the first proposed route plan;

measure at least one of a cycle time and a wait time corresponding to movement of the first virtual machine footprint and the second virtual machine footprint according to the predetermined work cycle a predetermined number of times;

compare the at least one of the cycle time and the wait time to an acceptable time value; and

designate the first proposed route plan as either viable or unacceptable based on the comparison of the at least one of the cycle time and the wait time to the acceptable time value.

15. The virtual environment of claim 12, wherein the electronic processor is further configured to:

create a second virtual lane within the virtual model, wherein the second virtual lane corresponds to the first proposed route plan and has at least one measurable lane constraint, wherein the first virtual lane and the second virtual lane intersect; and

move a plurality of virtual machine footprints along both of the first virtual lane and the second virtual lane.

16. The virtual environment of claim 15, wherein the electronic processor is further configured to:

move the plurality of virtual machine footprints according to a predetermined work cycle, wherein the predetermined work cycle corresponds to the first proposed route plan;

measure at least one of a cycle time and a wait time corresponding to movement of the virtual machine footprints according to the predetermined work cycle a predetermined number of times;

compare the at least one of the cycle time and the wait time to an acceptable time value; and

designate the first proposed route plan as either viable or unacceptable based on the comparison of the at least one of the cycle time and the wait time to the acceptable time value.