Method for determining a desired response to detection of an obstacle

• US 6,173,215 B1
• Filed: 12/19/1997
• Issued: 01/09/2001
• Est. Priority Date: 12/19/1997
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Sarangapani, Jagannathan
• Primary Examiner(s): Grant, William
• Assistant Examiner(s): RODRIGUEZ, PAUL L
• Application Number:
  US08/994,732
• Time in Patent Office: 1,117 Days
• Field of Search: 700/255, 700/250, 701/301, 701/300, 702/97
• US Class Current: 700/255
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60Y 2200/14 Trucks; Load vehicles, Busses
• CPC Class Codes: B60Y 2200/145 Haulage vehicles, trailing trucks
• CPC Class Codes: B60Y 2200/41 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: G01S 13/04 Systems determining presence of a target based on relative movement of target G01S13/56
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S

Abstract

A method is disclosed for responding to the detection of an obstacle in the path of a mobile machine as the mobile machine traverses the path at a work site. The method includes the steps of scanning a field of interest, detecting the presence of an obstacle, and determining a set of parameters as a function of the mobile machine, the obstacle, and the work site. The method also includes the steps of determining a level of predictability of motion of the obstacle, defining ranges of a plurality of zones as a function of the level of predictability and the parameters, and initiating an action in response to the obstacle being in one of the zones.

Claims

1. A method for responding to the detection of an obstacle in the path of a mobile machine, the mobile machine traversing the path at a work site, including the steps of:

scanning a field of interest in the path;

detecting the presence of an obstacle in the path;

determining at least one parameter as a function of at least one of the mobile machine, the detected obstacle, and the work site;

determining a level of predictability of motion of the detected obstacle relative to motion of the mobile machine, the level of predictability being a function of a planned heading and velocity of the detected obstacle;

setting a range of each of a plurality of zones on a segment of the path being traversed by the mobile machine, the range of each zone being set in response to the level of predictability and the at least one parameter; and

initiating a responsive action by the mobile machine as a function of the zone that the obstacle is located in.

2. A method, as set forth in claim 1, wherein detecting the presence of an obstacle includes the step of determining a condition of the obstacle as being one of stationary and in motion.

3. A method, as set forth in claim 2, wherein determining a condition of the obstacle as being in motion includes the step of determining a location, heading, and velocity of the obstacle relative to the mobile machine.

4. A method, as set forth in claim 1, wherein determining at least one parameter includes determining at least one parameter of the mobile machine as a function of a minimum stopping distance of the mobile machine.

5. A method, as set forth in claim 4, wherein a parameter is a velocity of the mobile machine.

6. A method, as set forth in claim 4, wherein a parameter is a total weight of the mobile machine.

7. A method, as set forth in claim 1, wherein determining at least one parameter includes determining at least one parameter of the work site as a function of the minimum stopping distance of the mobile machine.

8. A method, as set forth in claim 7, wherein a parameter is a condition of a surface of the path being traversed by the mobile machine.

9. A method, as set forth in claim 7, wherein a parameter is a slope of a grade of the path being traversed by the mobile machine.

10. A method, as set forth in claim 1, wherein a parameter is a condition of the work site, the condition determining a maximum distance wherein an obstacle can be detected.

11. A method, as set forth in claim 1, wherein determining at least one parameter includes determining at least one parameter as a function of the detected obstacle with reference to the mobile machine.

12. A method, as set forth in claim 11, wherein a parameter is a velocity of the detected obstacle relative to a velocity of the mobile machine.

13. A method, as set forth in claim 11, wherein a parameter is a heading of the detected obstacle relative to a heading of the mobile machine.

14. A method, as set forth in claim 11, wherein a parameter is a minimum stopping distance of the detected obstacle.

15. A method, as set forth in claim 1, wherein determining a level of predictability of motion of the detected obstacle includes determining a planned heading and velocity of the detected obstacle in response to the detected obstacle communicating the planned heading and velocity to a fleet manager, the fleet manager being in communication with the detected obstacle and the mobile machine.

16. A method, as set forth in claim 15, wherein a high level of predictability is determined in response to the planned heading and velocity of the detected obstacle being communicated by the fleet manager to the mobile machine.

17. A method, as set forth in claim 15, wherein a low level of predictability is determined in response to the fleet manager being unable to communicate the planned heading and velocity of the detected obstacle to the mobile machine.

18. A method, as set forth in claim 1, wherein setting a range of each of a plurality of zones includes the step of setting a range for each of three zones in the field of interest, including a first zone from the mobile machine to a first distance from the mobile machine, a second zone from the first distance to a second distance from the mobile machine, and a third zone from the second distance to a third distance from the mobile machine.

19. A method, as set forth in claim 18, wherein initiating a responsive action includes the steps of:

stopping the mobile machine in response to the detected obstacle being in the first zone;

reducing a velocity of the mobile machine in response to the detected obstacle being in the second zone; and

maintaining a desired velocity of the mobile machine in response to the detected obstacle being in the third zone.

20. A method, as set forth in claim 19, wherein initiating a responsive action includes the step of altering a heading of the mobile machine in response to the detected obstacle being in one of the first, second, and third zones.

21. A method, as set forth in claim 20, further including the steps of:

predicting a movement of the detected obstacle into one of the first, second, and third zones; and

initiating a corresponding responsive action by the mobile machine.