Non-linear method of guiding to arbitrary curves with adaptive feedback

• US 6,377,889 B1
• Filed: 11/21/2000
• Issued: 04/23/2002
• Est. Priority Date: 10/13/2000
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Soest, Gerard Van
• Primary Examiner(s): Nguyen, Tan
• Application Number:
  US09/718,518
• Time in Patent Office: 518 Days
• Field of Search: 701/207, 701/208, 701/209, 701/210, 701/211, 701/202, 701/201, 701/205, 340/990, 340/995, 180/168
• US Class Current: 701/207
• CPC Class Codes: A01B 69/008 automatic

Abstract

In one embodiment, the present invention includes a vehicle guidance system. In one embodiment, the vehicle guidance system includes a navigation system capable of providing vehicle location information including the vehicle position. In the present embodiment, the vehicle guidance system further includes data storage means capable of storing at least one pre-determined course having a preferred direction of travel. The present embodiment also includes processing means capable of receiving the vehicle location information, calculating the magnitude of any displacement of the vehicle in a direction perpendicular to the closest point of the predetermined course and thereupon generating an intermediate waypoint at a predetermined response distance from the vehicle. In this embodiment, the intermediate waypoint is generated along a composite line formed by the shortest route from the vehicle to a point of intersection with the predetermined course and extending thereupon along the predetermined route in the preferred direction for a distance along said composite line equal to the predetermined response distance. The present embodiment also calculates the heading from the vehicle to the intermediate waypoint and outputs the same as a corrective course heading.

Claims

1. A vehicle guidance system, comprising;

a navigation system capable of providing vehicle location information including the vehicle position,

a data storage means capable of storing at least one pre-determined course having a preferred direction of travel,

a processing means capable of receiving the said vehicle location information, calculating the magnitude of any displacement of said vehicle in a direction perpendicular to the closest point of said predetermined course and thereupon generating an intermediate waypoint at a predetermined response distance from said vehicle, along a composite line formed by the shortest route from the vehicle to a point of intersection with the predetermined course and extending thereupon along the said predetermined route in said preferred direction for a distance along said composite line equal to said predetermined response distance, calculating the heading from the vehicle to the intermediate waypoint and outputting same as a corrective course heading.

2. A vehicle guidance system as claimed in claim 1, wherein said vehicle location information includes one or more vehicle location parameters selected from the group consisting of:

the vehicle'"'"'s velocity, and the vehicle'"'"'s heading.

3. A vehicle guidance system as claimed in claim 2, wherein the magnitude of said predetermined distance is a function of one or more of said vehicle location parameters.

4. A vehicle guidance system as claimed in claim 1, wherein said processing means calculates and outputs the heading change from the vehicle heading to said corrective course heading.

5. A vehicle guidance system as claimed in claim 1, wherein said preferred direction is inputted to said data storage means as an attribute of at least one pre-determined course.

6. A vehicle guidance system as claimed in claim 1, wherein said preferred direction is defined by the direction of said pre-determined course from said point of intersection towards an end point, or away from a start point inputted to said data storage means as an attribute of said predetermined response distance.

7. A vehicle guidance system as claimed in claim 1, wherein said preferred direction is defined by the direction of said pre-determined course which subtends the smaller angle of two angles formed between the vehicles heading and the heading of the pre-determined course at the closest point to the vehicle.

8. A vehicle guidance system as claimed in claim 1, wherein said preferred direction is defined by the direction along said predetermined course at the closest point to the vehicle subtending an angle of magnitude <

π

/2 radians with the vehicle heading.

9. A vehicle guidance system as claimed in claim 1, wherein said preferred direction is defined by the direction along said predetermined course at the closest point to the vehicle subtending an angle of magnitude π

/2 radians with the vehicle heading.

10. A vehicle guidance system as claimed in claim 1, wherein at least one of said navigation system, data storage means and/or said processing means are located separately from said vehicle.

11. A method for guiding a vehicle on or to a predetermined guidance curve having a preferred direction of travel, said method comprising;

determining the location of said vehicle and any displacement from said predetermined course,

generating an intermediate navigation waypoint at a point along a composite line formed by the shortest route from the vehicle to a point of intersection with the predetermined course and extending thereupon along the said predetermined route in said preferred direction for a distance along said composite line equal to a predetermined response distance,

calculating the heading from the vehicle to the intermediate waypoint and outputting same as a corrective course heading.

12. The method as claimed in claim 11, further comprising;

transmitting said corrective course heading to a vehicle operator,

the application of course correction inputs to the vehicle by the said operator based on said corrective course heading,

detecting the change in vehicle position after a predetermined time interval and repeating the method steps of claim 11.

13. The method as claimed in claim 11, further comprising;

calculating the heading change from the vehicle heading to said corrective course heading and transmitting same as corrective data to a operator,

the application of course correction inputs to the vehicle by the said operator based on said corrective data,

detecting the change in vehicle position after a predetermined time interval and repeating the method steps of claim 11.

14. The method as claimed in claim 11, further comprising;

inputting said corrective course heading to a vehicle control means, calculating corresponding control signals required by a velocity and heading control means to execute said corrective course,

outputting said control signals to the velocity and heading control means, executing same and,

detecting the change in vehicle position after a predetermined time interval and repeating the method steps of claim 11.

15. The method as claimed in any one of claims 11-14, wherein said preferred direction is inputted to said data storage means as an attribute of at least one predetermined course.

16. The method as claimed in any one of claims 11-14, wherein said preferred direction is defined by the direction of said pre-determined course from said point of intersection towards an end point, or away from a start point inputted to said data storage means as an attribute of said predetermined response distance.

17. The method as claimed in any one of claims 11-14, wherein said preferred direction is defined by the direction along said predetermined course which subtends the smaller angle of two angles formed between the vehicle heading and the heading of the pre-determined course at the closest point to the vehicle.

18. The method as claimed in any one of claims 11-14, wherein said preferred direction is defined by the direction along said predetermined course at the closest point to the vehicle subtending an angle of magnitude <

π

/2 radians with the vehicle heading.

19. The method as claimed in any one of claims 11-14, wherein said preferred direction is defined by the direction along said predetermined course at the closest point to the vehicle subtending an angle of magnitude π

/2 radians with the vehicle heading.