Method for determining a desired response to detection of an obstacle
First Claim
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.
1 Assignment
0 Petitions
Accused Products
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.
110 Citations
21 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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.
-
Specification