Vehicular guidance system having compensation for variations in ground elevation
First Claim
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1. A system of guiding a vehicle, the system comprising:
- a data storage device for storing elevation data and corresponding location data for a work area;
a location-determining receiver for determining a particular location of a vehicle within the work area;
a data processor comprising a roll estimator for estimating a roll data and a pitch estimator for estimating pitch data corresponding to the particular location, the roll data associated with a corresponding lateral slope, the pitch data associated with a corresponding longitudinal slope generally perpendicular to the lateral slope, wherein each of the roll data and pitch data are separately estimated using i) a maximum slope of ground with respect to a reference point for each cell traversed by the vehicle corresponding to the particular location, and the maximum slope having a non-zero longitudinal slope component and a non-zero lateral slope component, and ii) an aspect angle between a direction of the maximum slope and an axis with which a direction of travel is coincident; and
a steering controller for guiding the vehicle utilizing the estimated roll data and the pitch data such that the vehicle follows a desired path.
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Abstract
A system and method of guiding a vehicle comprises establishing elevation data and corresponding location data for a work area. A particular location of a vehicle within the work area is determined. Roll data and pitch data are estimated corresponding to the particular location. The vehicle is guided based upon the estimated roll data and the pitch data such that the vehicle follows a desired path.
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Citations
10 Claims
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1. A system of guiding a vehicle, the system comprising:
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a data storage device for storing elevation data and corresponding location data for a work area; a location-determining receiver for determining a particular location of a vehicle within the work area; a data processor comprising a roll estimator for estimating a roll data and a pitch estimator for estimating pitch data corresponding to the particular location, the roll data associated with a corresponding lateral slope, the pitch data associated with a corresponding longitudinal slope generally perpendicular to the lateral slope, wherein each of the roll data and pitch data are separately estimated using i) a maximum slope of ground with respect to a reference point for each cell traversed by the vehicle corresponding to the particular location, and the maximum slope having a non-zero longitudinal slope component and a non-zero lateral slope component, and ii) an aspect angle between a direction of the maximum slope and an axis with which a direction of travel is coincident; and a steering controller for guiding the vehicle utilizing the estimated roll data and the pitch data such that the vehicle follows a desired path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification