System and method for controlling autonomous machine within lane boundaries during position uncertainty
First Claim
1. A control system for an autonomous ground based machine, comprising:
- a positioning unit configured to measure a position and an orientation of the machine;
a navigation unit in communication with the positioning unit and storing a route plan including an intended travel path along a lane, wherein the lane has a width defined by a left-hand boundary and a right-hand boundary, the navigation unit configured to;
receive an uncertainty value associated with at least one of the position and the orientation;
create a virtual two-dimensional footprint based on an actual footprint of the machine and the uncertainty value, wherein the virtual two-dimensional footprint encompasses the actual footprint;
simulate movement of the virtual two-dimensional footprint along the intended travel path;
calculate a left-hand margin value defined by the virtual two-dimensional footprint and the left-hand boundary, and a right-hand margin value defined by the virtual two-dimensional footprint and the right-hand boundary;
compare the left-hand margin value and the right-hand margin value to a predetermined minimum lane margin value; and
control at least one of a speed and a travel direction of the machine if either of the left-hand margin value and the right-hand margin value is below the predetermined minimum lane margin value.
1 Assignment
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Accused Products
Abstract
An autonomous machine control system includes a positioning unit measuring position and orientation, and a navigation unit storing a route plan including an intended travel path along a lane. The lane has a width defined by a left-hand boundary and a right-hand boundary. The navigation unit receives an uncertainty value associated with the position or orientation, and creates a virtual two-dimensional footprint based on an actual machine footprint and the uncertainty value. The navigation unit also simulates movement of the virtual footprint along the intended travel path, calculates a left-hand margin value defined by the virtual footprint and the left-hand boundary, and calculates a right-hand margin value defined by the virtual footprint and the right-hand boundary. The margin values are compared to a predetermined value, and speed or travel direction of the machine is controlled if either of the margin values is below the predetermined value.
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Citations
16 Claims
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1. A control system for an autonomous ground based machine, comprising:
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a positioning unit configured to measure a position and an orientation of the machine; a navigation unit in communication with the positioning unit and storing a route plan including an intended travel path along a lane, wherein the lane has a width defined by a left-hand boundary and a right-hand boundary, the navigation unit configured to; receive an uncertainty value associated with at least one of the position and the orientation; create a virtual two-dimensional footprint based on an actual footprint of the machine and the uncertainty value, wherein the virtual two-dimensional footprint encompasses the actual footprint; simulate movement of the virtual two-dimensional footprint along the intended travel path; calculate a left-hand margin value defined by the virtual two-dimensional footprint and the left-hand boundary, and a right-hand margin value defined by the virtual two-dimensional footprint and the right-hand boundary; compare the left-hand margin value and the right-hand margin value to a predetermined minimum lane margin value; and control at least one of a speed and a travel direction of the machine if either of the left-hand margin value and the right-hand margin value is below the predetermined minimum lane margin value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of controlling an autonomous ground based machine, the machine including a positioning unit configured to measure a position and an orientation of the machine, and a navigation unit in communication with the positioning unit and storing a route plan including an intended travel path along a lane, wherein the lane has a width defined by a left-hand boundary and a right-hand boundary, the method comprising steps of:
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receiving an uncertainty value associated with at least one of the position and the orientation; creating a virtual two-dimensional footprint based on an actual footprint of the machine and the uncertainty value, wherein the virtual two-dimensional footprint encompasses the actual footprint; simulating movement of the virtual two-dimensional footprint along the intended travel path; calculating a left-hand margin value defined by the virtual two-dimensional footprint and the left-hand boundary, and a right-hand margin value defined by the virtual two-dimensional footprint and the right-hand boundary; comparing the left-hand margin value and the right-hand margin value to a predetermined minimum lane margin value; and controlling at least one of speed and travel direction of the machine if either of the left-hand margin value and the right-hand margin value is below the predetermined minimum lane margin value. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification