Method and system for guiding a vehicle with vision enhancement

• US 7,242,791 B2
• Filed: 04/15/2005
• Issued: 07/10/2007
• Est. Priority Date: 01/04/2005
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Reid, John Franklin, Han, Shufeng, Pickett, Terence Daniel
• Primary Examiner(s): Johns; Andrew W.
• Assistant Examiner(s): MACKOWEY, ANTHONY M
• Application Number:
  US11/106,783
• Publication Number:
  US 20060147088A1
• Time in Patent Office: 816 Days
• Field of Search: 382/104, 382/103, 348/113, 348/116, 348/118, 348/119, 348/120, 340/120, 340935-942, 701/1, 701 23- 28, 701/200, 701/207, 701209-211, 701/213, 701/220
• US Class Current: 382/104
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method and system for guiding a-vehicle comprises a location module for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A maximum allowable correction duration and a maximum allowable vision-derived displacement are established for correction of a position of a vehicle. A location quality estimator estimates location quality data for the corresponding collected location data during an evaluation time window. A vision module estimates vision quality data for the corresponding collected vision data during the evaluation time window. A selector selects the application of location data or vision data based on the quality data and at least one of the maximum allowable correction duration and the maximum allowable vision-derived displacement for the evaluation time window or for an application interval trailing the evaluation time window.

Claims

1. A method for guiding a vehicle, the method comprising:

establishing a maximum allowable correction duration for correction of a location error in a position of a vehicle;

establishing a maximum allowable vision-derived displacement for correction of vision error in the position of the vehicle;

collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;

collecting vision data for the vehicle based on a vision module associated with the vehicle;

estimating location quality data for the location data during an evaluation time window;

estimating vision quality data for the vision data during the evaluation time window, the vision quality data being degraded by a quality degradation indicator where a reference feature or reference marker in an image is not referenced for a threshold maximum time; and

selecting a guidance mode of the vehicle based on the quality data and consistent with at least one of the maximum allowable correction duration and the maximum allowable vision displacement.

2. The method according to claim 1 wherein the guidance mode comprises one of a first guidance mode in which the location data is solely or predominately used for guidance of the vehicle for a time interval and a second guidance mode in which the vision data is solely used for guidance of the vehicle for a time interval.

3. The method according to claim 2 wherein a third guidance mode is selected as the guidance mode if the location data quality exceeds a location quality threshold, and if the vision quality exceeds a vision quality threshold, the third guidance mode being a fusion guidance mode.

4. The method according to claim 2 wherein s third guidance mode or fusion guidance mode is selected if the location data quality exceeds a location quality threshold, if the vision quality exceeds a vision quality threshold, if the vision offset is less than maximum allowable vision-derived displacement, and if the location correction duration is less than or equal to the maximum allowable correction duration.

5. The method according to claim 2 wherein the first guidance mode is selected if the location data quality exceeds a threshold quality, if the vision quality does not exceed a threshold quality, and if the location correction duration is less than a maximum allowable correction duration.

6. The method according to claim 2 wherein the second guidance mode is selected if the location data quality exceeds a location quality threshold, if the vision quality exceeds a vision quality threshold, if the vision offset is less than maximum allowable vision-derived displacement, and if the location correction duration is greater than a maximum allowable correction duration.

7. The method according to claim 2 wherein the second guidance mode is selected if the location data quality does not exceed a location quality threshold, if the vision quality exceeds a vision quality threshold, and if the vision offset is less than maximum allowable displacement.

8. The method according to claim 1 wherein the guidance mode comprises one of a first guidance mode in which the location data is sorely or predominately used for guidance of the vehicle for a time interval, a second guidance mode in which the vision data is solely used for guidance of the vehicle for a time interval, a third guidance mode in which the vision data and location data are used for guidance of the vehicle, and a fourth guidance mode in which vision data and location data are not used for guidance of the vehicle.

9. The method according to claim 8 wherein the fourth guidance mode is selected if the location data quality does not exceed a location quality threshold, and if the vision quality does not exceed a threshold quality level.

10. The method according to claim 8 wherein the fourth guidance mode is selected if the location data quality does not exceed a location quality threshold, and if the vision quality exceeds a vision quality threshold and if the vision offset is greater than a maximum allowable vision-derived displacement.

11. The method according to claim 1 wherein the maximum allowable correction duration prevents over-reliance on certain location data not updated by a vision-derived correction in a sufficiently recent manner.

12. A system for guiding a vehicle, the system comprising:

a data storage device for storing at least one of a maximum allowable correction duration and a maximum allowable vision-derived displacement for correction of a position of a vehicle;

a location module for collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;

a vision module for collecting vision data for the vehicle based on a vision module associated with the vehicle;

a location quality estimator for estimating location quality data for the location data during an evaluation time window;

a vision quality estimator for estimating vision quality data for the vision data during the evaluation time window, the vision quality data being degraded by a quality degradation indicator where a reference feature or reference marker in an image is not referenced for a threshold maximum time; and

a selector for selecting a guidance mode of the vehicle based on the quality data and consistent with at least one of the maximum allowable correction duration and the maximum allowable vision-derived displacement.

13. The system according to claim 12 wherein the guidance mode comprises one of a first guidance mode in which the location data is solely or predominately used for guidance of the vehicle for a time interval and a second guidance mode in which the vision data is solely used for guidance of the vehicle for a time interval.

14. The system according to claim 13 wherein the selector selects a third guidance mode as the guidance mode if the location data quality exceeds a location quality threshold, and if the vision quality exceeds a vision quality threshold, the third guidance mode being a fusion guidance mode.

15. The system according to claim 13 wherein selector selects a third guidance mode or a fusion guidance mode if the location data quality exceeds a location quality threshold, if the vision quality exceeds a vision quality threshold, if the vision offset is less than maximum allowable vision-derived displacement, and if the location correction duration is less than or equal to a maximum allowable correction duration.

16. The system according to claim 13 wherein the selector selects the first guidance module if the location data quality exceeds a location quality threshold, if the vision quality does not exceed a vision quality threshold, and if the location correction duration is less than a maximum allowable correction duration.

17. The system according to claim 13 wherein the selector selects the second guidance mode if the location data quality exceeds a location quality threshold, if the vision quality exceeds a vision quality threshold, if the vision offset is less than maximum allowable vision-derived displacement, and if the location correction duration is greater than a maximum allowable correction duration.

18. The system according to claim 13 wherein the selector selects the second guidance mode if the location data quality does not exceed a location quality threshold, if the vision quality exceeds a vision quality threshold, and if the vision offset is less than maximum allowable vision-derived displacement.

19. The system according to claim 12 wherein the guidance mode comprises one of a first guidance mode in which the location data is solely or predominately used for guidance of the vehicle for a time interval, a second guidance mode in which the vision data is solely used for guidance of the vehicle for a time interval, a third guidance mode in which the vision data and location data are used for guidance of the vehicle, and a fourth guidance mode in which the vision data and location data are not used for guidance of the vehicle.

20. The system according to claim 19 wherein the selector selects the fourth guidance mode if the location data quality does not exceed a location quality threshold, and if the vision quality does not exceed a vision quality threshold.

21. The system according to claim 19 wherein selector selects the fourth guidance mode if the location data quality does not exceed a location quality threshold, if the vision quality exceeds a vision quality threshold, and if the vision offset is greater than a maximum allowable vision-derived displacement.

22. The system according to claim 12 wherein the maximum allowable correction duration preventing over-reliance on certain location data not updated by a vision-derived correction in a sufficiently recent manner.